Research On Trajectory Planning Of Automotive Aluminum Wheel Deburring Robot

The deburring process of automobile aluminum hubs not only makes the overall hub more beautiful,but the most important thing is to avoid the risk of quality defects caused by the corrosion of the edges of the spokes.At present,the traditional manual deburring method is generally used in the manufacture of automotive aluminum wheels.This method is time-consuming,laborious,and difficult,and its deburring quality is difficult to guarantee.The robot deburring not only can greatly shorten the operation time,but also effectively guarantee the product quality,and meet the high efficiency and high quality production needs of enterprises.Trajectory planning is one of the key technologies of deburring robots.It can provide robots with motion control parameters,which fundamentally determines the quality and efficiency of robot work.This article takes automotive aluminum wheel deburring robot as the research object,focusing on three aspects of trajectory smoothness,terminal trajectory accuracy and robot operating efficiency.The research on trajectory planning of deburring robot is summarized as follows:(1)Based on the improved D-H parameter method,the ABB_IRB6700 robot is mathematically modeled.By deriving its kinematics equations,the robot's kinematics forward and inverse solutions are obtained,laying a foundation for its trajectory planning.(2)Analyze the functional requirements of automotive aluminum wheel deburring for robot trajectory planning;based on its functional requirements,three trajectory planning interpolation algorithms in joint space(parabolic transition linear interpolation,quintic polynomial interpolation,Five-time non-uniform B-spline interpolation)numerical simulation analysis of spatial continuous path.The results show that the trajectory curve smoothness based on the quintic non-uniform B-spline interpolation algorithm is superior to the other two algorithms.Thus,the five-degree non-uniform B-spline interpolation algorithm is determined as the basic interpolation algorithm for trajectory planning.(3)To further optimize the trajectory of the robot,the optimal operating time of the robot is taken as the objective function,and the kinematic parameters of the robot(joint position,velocity,acceleration,acceleration)and the accuracy of the end trajectory are used as constraints.Based on B-spline interpolation,an improved quantum behavior particle swarm optimization algorithm is used to optimize itstrajectory,and it is supplemented by differential evolution algorithm,standard particle swarm optimization algorithm,and quantum behavior particle swarm optimization algorithm.The results of numerical simulation show that: The optimization performance of the quantum behavior particle swarm algorithm is better than the other three algorithms,which verifies the feasibility of the improved quantum behavior particle swarm algorithm in trajectory optimization.(4)Aiming at the specific deburring path of automobile aluminum wheels,a trajectory planning algorithm based on the combination of quintic non-uniform B-spline interpolation algorithm and improved quantum behavior particle swarm optimization algorithm is proposed.With the help of MATLAB simulation software,a numerical simulation analysis of the obtained optimal trajectory is carried out.The results show that the optimal trajectory planning obtained through research can meet the needs of automotive aluminum wheel deburring.This result also further validates the trajectory proposed in this paper The feasibility of planning algorithms.In summary,this paper carried out the research on the trajectory planning of the automotive aluminum wheel deburring robot,and proposed a trajectory planning algorithm based on the combination of the quintic non-uniform B-spline interpolation algorithm and the improved quantum behavior particle swarm optimization algorithm.For the time-optimal trajectory planning of the automotive aluminum wheel deburring robot,the acceleration curve of each joint is smooth and continuous,the robot end trajectory accuracy and kinematic parameters meet the requirements,and the operating efficiency is improved,and the expected research goal is reached.The research results in this paper have certain theoretical significance for the trajectory planning of deburring robots.