Research On Trajectory Planning Of Multi-Axis Riveting Robot Cooperative Motion Based On CoDeSys

Aircraft panel riveting is a key link in aircraft manufacturing and repairing.In this paper,riveting robot is used to improve the riveting efficiency of aircraft panel.Through the collaborative motion design and trajectory planning of riveting robot,the riveting quality is guaranteed and the trajectory motion cycle of robot is shortened.Firstly,this paper introduces the hardware composition and structure of the riveting robot.According to the structure of the robot,the D-H method is used to establish the kinematic model,and then the kinematics forward and inverse solution of the robot are obtained.Then the robot toolbox of MATLAB is used to carry out kinematics simulation to verify the accuracy of the forward and inverse kinematics solutions;afterwards,the 5-3-5 segmented interpolation method is used to plan the robot trajectory,and the simulation verifies that the riveting robot is at the path point.There is no sudden change in the acceleration,and the minimum impact on the kinematic joints.At the same time,the method of adaptive parameter adjustment and genetic algorithm are used to optimally solve the interpolation time,and MATLAB is used to simulate the robot trajectory.Finally,the axial posture of the riveter is adjusted by the method of machine vision guidance,which realizes the coordinated posture determination of the dual robots,and completes the collaborative riveting through the coordinated motion control of the dual robots.It is verified by the cooperative riveting of bilateral riveting robot,and the following conclusions are obtained:The pier diameter and pier head height of rivets after riveting the wall panel were measured and compared.The results show that the quality of riveting can be guaranteed better by cooperative riveting than by non cooperative riveting;According to the piecewise interpolation algorithm of time optimization and the teaching method of fixed path points,the robot moves according to the trajectory,measure and compare the running time of the trajectory.The time is shortened by about 20%,which verifies that the improved genetic algorithm and the segmented interpolation method proposed in this paper are effective reduce the effectiveness of the trajectory movement cycle.