Research On Dual-arm Cooperative Motion Trajectory Planning Of Automobile Hub Grinding Robot

With the increasing requirements for robotics in industrial production,multimachine collaboration of industrial robots is more adaptable to complex environments.In the polishing and polishing of parts,whether it is manual polishing or teaching by robot,the flexibility is not high enough.Multi-machine cooperation can help solve this problem.Based on the application background of automobile wheel hub polishing,this paper uses a six-axis industrial robot to establish a dual-machine collaborative polishing system that uses the main robot to polish the hub and the slave robot to clamp the hub to carry out the research on the trajectory planning of the robot end effector during the polishing operation.The main work content is as follows:(1)Analyze the kinematics of the dual-machine cooperative grinding system and solve its space.The D-H method is used to establish the dual robot coordinate system and determine the connecting rod parameters,establish its forward and inverse kinematics models,and simulate and verify the forward and inverse solution models in matlab.The Monte Carlo method is used to find the dual-robot collaborative work space,which provides a theoretical basis for the subsequent wheel hub grinding trajectory planning.(2)Research on industrial robot trajectory planning based on the quintic B-spline interpolation method.The fifth-degree B-spline interpolation method is used to plan the trajectory of the polishing robot joint space,and the trajectory planned by the third-degree polynomial and fifth-degree polynomial interpolation method is compared and analyzed.The three-dimensional model of the polishing robot and the Adams motion simulation model are established,and the motion trajectory simulation of the robot is carried out.(3)Acquisition and processing of hub point cloud data based on 3D laser scanning.Use the 3D laser scanning arm to collect the point cloud data information of the wheel hub to be polished,perform noise removal,data simplification and priority sorting on the point cloud data,and convert the point cloud coordinate information from the Cartesian coordinate system to the polishing according to the established inverse solution model Space information of each joint of the robot.(4)The construction and experimental research of the dual-robot collaborative polishing test system.Build a dual-robot system joint simulation model to verify the consistency of the given initial input angle with the initial posture of the robot in the kinematics model,and use the five-degree B-spline interpolation method to plan the converted point cloud coordinate information in the collaborative joint space.Check whether there is collision or interference in matlab,and realize the grinding of the wheel hub by the dual-arm collaborative robot under the test prototype system.This verifies that the double-arm cooperative wheel hub grinding method studied in this paper is feasible.