| At present,a grinding plant still uses manual operation to complete the work of adding steel balls to the SAG mill,which is not only costly but also has great potential safety hazards.In order to complete this work more safely and efficiently,industrial robots are used to take and transport the steel balls to the subsequent transportation devices.According to the requirements,the Gree GR210 robot is selected as the research object,and its end effector is studied and designed,and its kinematics analysis,trajectory planning and optimization of time optimization are carried out.The research and analysis of the end effector verifies the feasibility of using the industrial robots to complete the picking and transporting of the grinding medium steel balls of the semi-autogenous mill.The main research contents are as follows:(1)According to the actual production conditions of the grinding plant,the scheme design for the realization of robot ball picking,mainly including the research and design of the structure of the end-effector,which is the key part of the ball taking,and selecting suitable hardware facilities for testing and weighing.At the same time,Gree GR210 robot is selected according to production requirements,and PLC controller is added to realize simpler and safer operation control and data detection of the robot.(2)Carry out kinematics research and analysis of Gree GR210 robot,obtain its forward kinematics mathematical model,and establish a simulation model through MATLAB software to verify the correctness of the mathematical model,then deduce and calculate the inverse kinematics formula and substitute the data to verify that it is correct.Finally,research and analyze the working space of the robot.(3)On the basis of kinematics,the working trajectory of Gree GR210 robot is analyzed,and various planning methods are used for research and simulation according to the analysis.By comparing the simulation results of MATLAB software,analyze the advantages and disadvantages of polynomial trajectory planning of different degrees,and finally choose to use the quintic polynomial interpolation function to complete the trajectory planning of the robot to complete the automatic ball-taking work.(4)A 5-3-5 hybrid polynomial interpolation function is proposed for the constraint that the acceleration of the start and end points of the first segment of the trajectory is zero and will not change abruptly during the ball-taking process.Divide the trajectory into three parts and plan with quintic,cubic and quintic polynomials respectively,and the simulation verification is carried out by MATLAB software.The particle swarm function is used to optimize the time of the 5-3-5 hybrid polynomial interpolation function.After optimization,the three periods of time are reduced,and the total time is reduced from 10 s to 7.52 s.Simulate the optimized results,the resulting trajectory is smoother and gentler.(5)Firstly,the repeated positioning test of the Gree GR210 robot was carried out to verify the feasibility of its application in the function of taking the ball.After completing the connection of all hardware facilities and the programming of the program,the results of the five-order multinomial trajectory planning are experimentally verified.The end effector can absorb 9 steel balls in a single time on average,which can meet the production demand.The robot can accurately reach each path point and run smoothly without steel ball falling. |
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