Research On The Automatic Blanking Movement And Control Strategy Based On Efficiency

Although the robot automatically up and down in the enterprise has been more widely used,the technology first mature,but the motor stator and rotor silicon steel stamping operations require fast,high efficiency,the loading and unloading trajectory on the efficiency and accuracy of the operation is very significant.In this paper,we focus on the establishment of manipulator coordinate system,the choice of trajectory planning method and how to use genetic algorithm to solve the problem.This paper is from the Wuhu Ampere Robot Industry Technology Research Co.,Ltd."motor stator and rotor film automation industry upgrade" project selected robot trajectory planning as a theoretical research object.Specific work is as follows:(1)In order to carry out the study of the trajectory planning in depth,this paper determines the degree of freedom of the manipulator for the movement characteristics of the upper and lower materials,and determines the joint type of the manipulator by comparing the joint structure of the manipulator.The D-H parameter model of the manipulator is established,and the inverse kinematics is studied and the special points are validated.(2)Secondly,we study the trajectory planning method which is widely used at present:joint trajectory planning;Cartesian space trajectory planning;trajectory planning of joint space based on B-spline curve.It is only possible to ensure the continuity of the curve at the connection point,but it can not guarantee the smoothness of the whole curve.;The second trajectory planning is relatively large,and because the trajectory planning is very intuitive it is difficult to ensure that there are singular points;relatively speaking,the third trajectory planning can ensure the continuity of the whole trajectory and the calculation is small;(3)Through the above comparative study,select the B-spline curve as the trajectory planning curve.Taking the shortest time as the research purpose,the shortest trajectory is searched by genetic algorithm,and the genetic algorithm is simulated by MATLAB.(4)Finally,the existing Efort ER20-C10 industrial robots were used to simulate the experiment,and the parameters such as the joint movement time and the joint trajectory of the robot were recorded.The main results are as follows:(1)The method of spatial pose representation of manipulator is established and its inverse solution is obtained.In contrast,several trajectory planning methods are studied.(2)The time between the working points of the robot is obviously reduced by MATLAB simulation,and the whole joint curve tends to be smooth,which verifies the feasibility of the method.(3)By analyzing the experimental results,the time of the industrial robot with trajectory planning is reduced by 7.3809s.