Research On Dynamic Modeling And Trajectory Optimization Control Of Circuit Breaker Flexible Assembly Robot

Circuit breaker is an important protective element in power distribution system,which is widely used in industrial and civil fields.The improvement of automation-level in the manufacturing industry brings new requirements for flexibility.At present,the manufacture of circuit breakers is mainly based on manual production,and the flexible assembly process in the automated assembly unit is missing.Industrial robot is the key factor to provide the flexible assembly production of circuit breakers with the advantages of high working efficiency,stability and reliability.It is of great significance to improve the manufacturing efficiency and product quality of circuit breakers to develop flexible manufacturing process and corresponding robot control method by combing industrial robot with circuit breaker automation manufacturing.Research and development of circuit breaker flexible assembly unit based on the trajectory planning and time optimization are conducted in this dissertation.The main research contents are as follows:(1)Robot kinematics modeling method is studied,including position description,coordinate transformation and so on.The transform relationship of the circuit breaker assembly robot joint angle and its end posture in the space is analyzed based on the D-H method,which is able to be used for the optimal trajectory planning control.(2)A flexible assembly scheme suitable for different circuit breakers manufacturing is developed,and then verified by automatic assembly of miniature circuit breakers.The parts adjustment unit and its process design concepts are described in detail,which is able to be used for the poses adjustment in the flexible manufacturing process for different circuit breaker parts.(3)The trajectory planning problem of flexible manufacturing robot for miniature circuit breaker assembly is studied.According to the flexible assembly process and its characteristics,a trajectory planning method for cubic spline interpolation is established.A new method of robot trajectory planning with dual optimization is proposed based on particle swarm optimization.The overall potential better results of the robot trajectory optimization under the constraints of the velocity and acceleration is found and its stabilization and accuracy are improved by comparing the segment time of each segment robot trajectory in the optimized particle set evaluated by the fitness function(4)The corresponding flexible assembly experiment platform of miniature breaker is established.The corresponding robot control program and software control process are developed and verified by the corresponding experiments.Effectiveness of the proposed flexible circuit breaker assembly process has been verified.