Research On Path Optimization Of Parallel Robot Based On Improved Genetic Algorithm

The car starter clip produced by Greatway Electric Appliance Group has a great market demand,and sorting is an important link in industrial production and manufacturing,and now with the introduction of intelligent equipment into the market,machine sorting gradually replaces manual sorting,the parallel robot has the advantages of fast speed and high precision.In this paper,parallel robots are used to sort workpieces on the production line.The application of parallel robots requires today’s robots to have the characteristics of high speed operation to achieve high sorting efficiency,while running at high speed,however,as the change of velocity of parallel robot will impact vibration,make the motion trajectory of parallel robot with a good run,can effectively reduce the vibration of the movement process,improve the sorting efficiency of parallel robots to shorten the working time of parallel robots,the running trajectory of the end effector of the parallel robot and the overall sequencing strategy during the operation of the parallel robot are analyzed and studied.The main research contents are as follows:1.According to the relationship between the trajectory planning coordinates of the end effector of the parallel robot and the angle of the motor,the kinematics analysis of the parallel robot is carried out.The forward kinematics solution based on the geometric relationship is proposed,and the inverse kinematics solution of the closed-loop vector equation is established,prove the validity of the inverse solution are derived,provide the basis for subsequent trajectory planning.2.In view of the parallel robot sorting problem of stationarity and sorting efficiency,and combined with the practical application of scraping,in order to improve grab efficiency and reduce vibration of parallel robot,trajectory planning of Parallel Robot Using Spatial Straight Line and Arc Line,put forward the transition function make movement process,speed changes gently,So as to reduce the vibration caused by the acceleration upheaval.A half-gate trajectory was designed,and elliptic curve was used to transition the vertical segment and horizontal segment changes,so as to reduce the total distance required by the end-effector in the process of sorting operation.A polynomial modified trapezoidal acceleration algorithm was used to obtain the optimized trajectory and improve the sorting efficiency.3.In view of the parallel robot sorting problem of overall sorting efficiency,the problems existing in the sorting strategy are also studied,which are constantly changing due to the different positions of the sorting workpieces,a method of traveling salesman problem is proposed,and an improved genetic algorithm is used to optimize the sorting strategy.The obtained optimization method can effectively shorten the working time of parallel robots and improve the sorting efficiency.