Research On Structure Optimization And Trajectory Planning Of Medical Robot Palletizing

In twenty-first Century,with the rapid development of the logistics industry and packaging technology of robot,palletizing robot has become one of the hot research in the moment.In this paper palletizing robot for the pharmaceutical packaging is taken as a carrier for its key technology research.The main research content is divided into the following points:(1)In this paper the method of describing the relative mathematical foundation was introduced including the description method of the position and pose of the object in the three-dimensional space,the establishment process of the general D-H parameter modeling method.Then the structure diagram and the D-H coordinate system of palletizing robot were found.On the basis the palletizing robot kinematics was analyzed and the correctness of the direct kinematics model was verified.Finally,the inverse kinematics of the palletizing robot was analyzed and the base joint,arm joint and arm joint angleθ,θ2,θ3 were calculated.(2)Aiming at the problem of the narrow working space and the redundant arm length of the palletizing robot applied in pharmaceutical packaging production line,a new method combining the graphic method and analytic method was proposed to analyze and solve this problem.D-H positive kinematics theory model of palletizing robot was built and the correctness of the model was verified,on the basis the actual working conditions were considered,MATLAB genetic algorithm toolbox was used to complete multi-objective parameter optimization on the arms' length and working space,and the optimal design variables conforming to the job requirement were obtained.Finally,through the SIMMECHANICS modular,the model of palletizing robot was built and the workspace of palletizing robot was simulated.(3)According to the problem of vibration and shock caused by palletizing robot applied in the pharmaceutical packaging production line in high speed operation process,a new trajectory planning algorithm for three stage modified sine function was proposed to complete trajectory planning of the palletizing robot joint space.The excellent curves were selected from the planning curve commonly used in actual production,based on this,it is modified.Then correction parameter was optimized combining with the genetic algorithm with the multiple target of maximum speed,maximum acceleration and maximum jerk and the best correction parameter was obtained meanwhile the performance of sine function curve before and after the correction was compared.(4)The overall system modal of the palletizing robot was analyzed using ANSYS/Workbench.The first six order natural frequency and vibration mode were got.By observing the results,the weak links of robot system strength were found out.For the strength of the weak links some specific solutions were given and the overall strength of the robot system is improved.