Trajectory Planning And Base Position Optimization Of Heavy Load Handling Robot In Foundry Production Line

Foundry industry is the foundation of manufacturing industry,is an important guarantee for the innovation and development of high-end technology and equipment,and plays an important role in the development of national economy.Compared with manual operation,the application of industrial robot in casting production line has the advantages of :(1)saving labor cost;(2)Stable production efficiency;(3)High security;(4)High flexibility.However,the automation level of most casting production lines is still low because there are many processes,complicated operation and few targeted researches.Therefore,this paper takes six-axis robot as the object and studies the application of industrial robot in casting production line.The specific contents are as follows:Firstly,The paper analyzes the process and technical requirements of robot casting production line,analyzes the core dip coating process,casting grinding process,and other important process,analyzes the process of handling operation in every important technology requirements and characteristics of combining handling operation process requirement and its characteristics are analyzed in the production line in this paper,the research direction and research content.Then,the kinematics model of the robot is analyzed,and a workspace solution method is proposed.Generated seed space is divided into multiple child space,the number of working space point of subspace expand,according to the position of expand workspace point after adjusting the parameters of the random function,ensures that the new point is located in the workspace,near the border many times to expand,make accurate enough work space,get up to work space,The effectiveness of the proposed method is verified by simulation.It provides a foundation for subsequent trajectory planning and base position optimization.Then,the rigid body dynamics model of the robot was analyzed by Lagrange equation.On this basis,the flexible joint was simplified into a linear torque spring structure with damping,and the rigid-flexible coupling dynamics model of the robot was analyzed.According to the rigid-flexible coupling dynamics model,the vibration formula of the robot is derived.The vibration problem of the robot is divided into the vibration when moving and the residual vibration after the movement.Aiming at the suppression of the residual vibration,the motion trajectory is planned by the S-shaped curve programming method.And the robot joint Angle error caused by the residual vibration into robot in cartesian space at the end of the position error,robot from the start to the end of the robot vibration amplitude is less than a certain value of time as the optimization goal,in time of s type curve parameters as optimization variables,optimized by particle swarm optimization(pso)algorithm,got the optimal time parameter of s type curve.Finally,an optimization method of robot base position based on multi-objective particle swarm optimization is proposed.Will speed performance index,energy consumption index and residual elastic energy index as optimal objective,analyzes the multi-objective optimization model of the robot base position,move the robot base frame of three degrees of freedom as optimization variables,is proposed through fitness choose the optimal location of multi-objective particle swarm optimization,via the algorithm to solve the optimal position set and optimal front,A compromise optimal function is designed by using the optimal frontier,and the compromise optimal position is screened from the set of optimal positions by this function.According to the trajectory planning method in this paper,the trajectory parameters are re-optimized at the optimal compromise position to obtain the optimal trajectory at the optimal compromise position.