Dynamic Analysis And Trajectory Planning Of The Slagging-off Robot For Aluminum Ingot Casting

Non-ferrous metal materials were important basic raw materials in the development of the national economy.Aluminium had a wide range of uses.At present,aluminum had become the basic material for modern economic development and played a pivotal role in the construction of national defense economy.The aluminum ingot would produce scum during the pouring process,which needed to be removed in time.Thus,the slagging process was an important process in the metal smelting process.But there were potential safety hazards such as high-temperature liquid splashing,explosion,and unfavorable protection during manual slagging.Industrial robots could replace manual work in high temperature,noise and dangerous environments.The development of an automated slagging robot system to replace manpower was of great significance to the safe production and cost reduction of enterprises.The slagging process in the actual production process,the casting mold moves faster.Therefore,the focus and difficulty of the research was how to make the robot complete the automated slagging task quickly and effectively.Trajectory planning could make the robot avoid obstacles during operation,optimized the movement path while completing the work task,reduced the working hours,and improved the efficiency of slagging.So,the research on the trajectory planning of the slagging robot was of great significance.Herein,the research object was the trajectory of the slag shovel at the end of the slagging robot.The kinematics and dynamics of the robot were analyzed,and the trajectory planning and optimization of the shovel shovel were explored.Aiming at the automatic slagging robot used by an electrolytic aluminum production enterprise,the structure and main components of the automatic slagging operation platform were analyzed,and the basic tasks and working paths of the robot were planned.Kinematics modeling and simulation analysis were carried out for the slagging robot body.The robot’s forward and inverse kinematics equations were established by the improved D-H parameter method.Using co-simulation technology,the kinematics simulation verification of the working process of the slagging robot was carried out.With the help of Lagrangian method and Adams simulation software,a virtual prototype of the slagging robot was constructed,and the dynamics modeling analysis and simulation verification of the slagging robot were performed.According to the working process of the slagging robot,the fifth-order interpolation method was adopted to optimize the trajectory of the working path.Visual simulation and simulation were carried out to verify and compared the trajectory of the robot before and after optimization.The optimized slagging process shortened the working time by1.2s,and the overall slagging rate was increased by about 13%,which improved work efficiency and reduced the production cost of the enterprise.