Robot Path Planning And Development Of Simulation Platform For Sheet Metal Bending

With the rapid development of sheet metal bending automation,the bending robot’s demonstration operation to complete the bending process has been unable to meet the current sheet metal industry small batch,variety,efficient flexible production needs.Robot path planning for sheet metal bending is a key technology to realize off-line programming of sheet metal bending.This paper studies this problem.The main research work and results are as follows:(1)The overall design of the robot path planning scheme for sheet metal bending.According to the different obstacles and motion constraints of robot processing,the overall path planning scheme is proposed.(2)The generation of task-oriented path critical nodes is studied.The mathematical model of processing environment is established,the target pose nodes of robot are solved under different tasks,and the path critical node generation algorithm based on element decomposition is proposed.(3)The path planning between key nodes is studied.An improved RRT-Connect algorithm is proposed,which adopts the node extension mode of variable weight and two-step expansion,adds the guidance strategy based on obstacle judgment,designs the path optimization scheme,and realizes the optimization of algorithm time,path length and stability.(4)The transition path planning problem between different operation tasks is studied.PRM algorithm is improved in combination with the robot sheet metal bending processing environment,an iterative sampling strategy based on multiple dynamic sampling domain is proposed,the optimal path search is realized by Dijkstra path search algorithm,and the balance optimization of algorithm time and path length is realized.(5)A simulation motion platform for robot sheet metal bending is designed and developed.Based on the secondary development of Solid Works,the robot sheet metal bending motion simulation platform is built,which is divided into environment configuration module,process configuration module,motion simulation module,path planning module and database management module.Finally,the simulation of the robot’s complete operation path is carried out to verify the feasibility of the motion simulation platform and the correctness of the path planning.