Research On Trajectory Planning Of Grinding Robot And Development Of Offline Programming Plug-in

With the development and progress of science and technology,the use of industrial robots for grinding operations has become an inevitable trend.The main problem of robot polishing is the planning of robot polishing trajectory and the design of motion program.As a highly coupled and complex system,industrial robot's trajectory planning for grinding motion is a relatively complicated process.Due to the diversity of grinding requirements and the complexity of grinding conditions,the design of robot grinding programs is also more cumbersome.This article takes the ABB 6700 150 / 3.2 industrial robot as the research object.From the perspective of grinding,it focuses on the development of Cartesian space complex curve path grinding in robot grinding trajectory planning,singular area joint space trajectory planning,and robot grinding offline programming plug-in development.The main contents are as follows:Robot kinematics analysis is the theoretical basis of robot grinding trajectory planning research.The article first conducts DH modeling of ABB 6700 150/3.2 robot,on this basis,gives a general six-axis industrial robot forward and inverse kinematics solution The algorithm has laid a theoretical foundation for the follow-up trajectory planning and the development of offline programming plugins.Based on the principle of equal chord height error,the article optimizes the circular interpolation algorithm based on time division,extends it from the two-dimensional plane to the three-dimensional space,and gives the corresponding theoretical derivation,which solves the problem that the robot cannot directly The problem of complex curve grinding motion in space,and the new algorithm after optimization has the characteristics of fast calculation speed,high interpolation accuracy and high trajectory accuracy.Based on this,the article also gives Cartesian when linear grinding based on robot Methods of spatial trajectory planning include spatial location planning and spatial attitude planning.Aiming at the problem that the robot is in the singular area,the speed and acceleration will suddenly change,which may cause the robot to be unable to be polished according to the requirements,or even a safety accident.A joint space trajectory planning interpolation based on joint angular velocity and angular acceleration control is proposed The algorithm,through the specific joint space trajectory planning for the singular area,makes the robot's grinding smooth when passing through the singular area,and the speed and acceleration continuously change within a certain range,avoiding the problem of distortion.After trajectory planning for the robot polishing,the article takes the high-speed rail body as the object to be polished,and develops the offline programming plug-in for robot polishing based on the UG secondary development platform.The developed offline programming plug-in can make the design of the robot polishing program more convenient.It is flexible and avoids the problems of low teaching accuracy and long time period that will occur in manual teaching programming.The article proposes to use orthogonal experiments to study the robot grinding process parameters and determine the optimal combination of process parameters.Finally,the article verifies the correctness and applicability of the developed robot grinding offline programming plug-in by conducting on-site grinding tests.