Research On Trajectory Optimization Of Grinding Robot With Complex Curved Surface

The automation of complex surface grinding is the trend of The Times.On the one hand,it can liberate the grinding workers from the heavy grinding work and harsh working environment.On the other hand,it can improve the production efficiency and product quality of the factory,and reduce the production cost of the factory.Because the industrial robot technology has been mature,the position control precision is high,can realize the force control and so on the characteristics,so it is an ideal tool to realize the complex surface grinding automation.In order to use industrial robots to polish complex surfaces and obtain good results,trajectory optimization problem needs to be studied.In this thesis,the SD700 E robot is used to optimize the trajectory of complex surfaces.The main contents and achievements are as follows:(1)The development status of polishing technology at home and abroad and the research on trajectory planning of complex surfaces were summarized.Aiming at the relationship between position and force in the polishing process,the robot's constant force polishing control algorithm was studied.(2)According to the robot connecting rod and joint parameters,the forward and inverse kinematics models of SD700 E robot were established.In order to verify the correctness of the model,the MATLAB robot toolbox was used for simulation.After comparative verification,the model was proved to be effective.(3)According to the relevant theories of aspheric surface grinding,the parameters of grinding track and the robot's attitude during grinding were determined through calculation and analysis.The parameters of the grinding track include the cutting line distance and the cutting step length.The conversion relationship between the robot end and the workpiece is determined to ensure that the robot tools,sensors and the posture of the end and the workpiece are fixed during the constant force polishing process.(4)The control system of the grinding robot is designed and the dynamic model is established.In terms of the position control of the robot,the traditional PID control algorithm and the adaptive PD control algorithm are analyzed to improve the control accuracy of the position control of the robot.In the aspect of constant force control,based on the robot position control,the robot impedance control technology is introduced,which combines the position control and force control to realize the constant force control of the robot grinding process.(5)based on PQArt software,set up a complex curved surface grinding simulation platform,and has carried on the simulation,and the simulation results are analyzed,and verify the effectiveness of the whole trajectory planning method,the control algorithm can realize the position compensation in the process of polishing,to ensure the grinding tool and the workpiece contact force,so as to complete the workpiece of constant force grinding robot.