Research On Path Planning Method Of Steering Wheel Assembly Robot

With the progress of science and technology and the increase of labor cost,the development of robot technology has been paid more and more attention by various countries.As an important part of the development of robot technology,path planning is one of the difficult and hot issues of industrial robots.This paper takes the steering wheel assembly robot as the research object,and mainly studies the design and implementation of the robot arm assembly workstation and the planning algorithm of the assembly path.Firstly,the development status of assembly robot and the current path planning algorithm of robot are studied,and the kinematics model of MOTOMAN-HP20 robot selected in this paper is established and the forward and inverse kinematics solutions are solved.By analyzing the structure of AGV steering wheel and the manual assembly process,a robot assembly workstation is designed to complete the assembly of the steering wheel instead of manual work.On this basis,Robot software is used to build virtual assembly workstation to complete virtual assembly simulation of the steering wheel.Secondly,off-line programming software is developed based on Matlab,which mainly realizes the visualization of robot model,simulation verification of forward and inverse kinematics solution results,path planning,simulation implementation and other functions,and the feasibility of off-line programming software is verified by comparison with Robotics toolbox.Finally,the basic path planning of the steering wheel assembly manipulator is verified by simulation and experiment.Thirdly,two random sampling algorithms are selected to plan the assembly path according to the working environment of the steering wheel axle assembly and the characteristics of the six-degree-of-freedom shutdown robot,and the advantages and disadvantages of the two algorithms are analyzed.On this basis,Multi PRM algorithm(the fusion of the two algorithms)was proposed to realize the path planning and obstacle avoidance goal of assembly existing path by giving full play to their advantages.Finally,the improved algorithm and two sampling path planning algorithms are respectively used to carry out planning and simulation comparative analysis of different two-dimensional and three-dimensional environments,and an assembly path experimental platform is built to verify the assembly path planned by the improved algorithm.It is verified that the improved PRM algorithm in this paper can satisfy the path planning and obstacle avoidance goal of the steering wheel assembly.