Trajectory Planning Research Of 3-DOF Hybrid Grinding Manipulator

Today,sanitary ceramics as a typical industrial product faces enormous opportunities and challenges.Grinding is a very important link in the production of sanitary ceramics.However,there are many shortcomings in manual grinding.A 3-DOF hybrid grinding manipulator is designed,the kinematics of manipulator is analyzed,the working space of manipulator is solved and the structure parameters are optimized.The trajectory planning method for time-jerk optimal quantic NURBS curve based on GA is studied.The main research work and conclusions of the thesis are as follows:1)The structure of the grinding manipulator is designed.According to the grinding characteristics of sanitary ceramics,the grinding scheme of the grinding manipulator is selected;A 3-DOF hybrid mechanism is designed as the mechanical prototype of the grinding manipulator;By comparing and analyzing the configuration of traditional series and parallel industrial manipulators,a 3-DOF hybrid grinding manipulator is designed;Constructing 3D Model of grinding manipulator with software;Performance simulation of the grinding manipulator in the ANSYS software to verify the rationality of the mechanism.2)The kinematics of manipulator is analyzed and studied.The homogeneous coordinate transformation matrix of manipulator is derived.The D-H parameter method is used to establish the grinding robotic space coordinate system model;The vector method is used to solve the kinematic equation of the grinding manipulator;The working space of the grinding manipulator is solved to further verify the mechanism rationality of the grinding manipulator.3)Conduct a trajectory planning study of the grinding manipulator.Select the quantic NURBS curve method to study the trajectory planning of the grinding manipulator joint space;Use the GA to perform time-jerk optimal multi-objectives on the trajectory optimization;Verify the above research by simulating the output curve of the joint displacement,velocity,acceleration and jerk before and after optimization.4)Control system design and motion simulation of the grinding manipulator on the MATLAB/Sim Mechanics platform.The 3D model of the grinding manipulator is imported into the Sim Mechanics platform to generate a modular model.A traditional PID and fuzzy adaptive PID control system is designed to polish the single joint of the manipulator as an example figure Analysis and simulation results the fuzzy adaptive PID control system is selected as the control system of the grinding manipulator.The inner wall of the selected sanitary ceramics is taken as an example to carry out the motion grinding simulation,and the simulation animation is output to further verify the trajectory planning algorithm.The research show that the trajectory planning of the grinding manipulator can achieve the expected goal and complete the sanitary ceramic grinding task efficiently and smoothly.Figure 47;Table 10;Reference 58...