Research On Motion Trajectory Generation Method Of Automatic Shoe-making Line Spraying Glue Robot

Robot motion trajectory planning is the basis of robot motion control,ensuring that the end effector can quickly and smoothly reach the expected position to perform the task,and the various joints of the robot can also run continuously and smoothly.In practical production applications,in order to improve the quality and efficiency of shoe spraying,not only requires the robot to run smoothly when performing the glue spraying task,but also requires that the time of spraying be shortened as much as possible,therefore,this topic in-depth study of the method of generating the motion trajectory of the glue spraying robot,the main work is as follows:(1)Considering the requirements of the sole spraying operation,the SIASUN SR7 CL glue spraying robot was selected as the actuator.Using the D-H parameter method and the actual robot parameters,the kinematic model of the spraying robot is established,and the positive and negative kinematic equations are solved to obtain the relationship between the end effector posture and the joint angles of the robot.(2)Based on the characteristics of the glue spray trajectory of the sole,the robot movement trajectory is planned and studied.In the joint space,the trajectory of the robot is planned by three or five polynomial interpolations,and in the Cartesian space,the trajectory planning of the robot is completed by the posture interpolation of the space straight line and the space arc.Through comparative analysis,a conversion method from task trajectory to joint trajectory is proposed.(3)The rubber spray trajectory is optimized by combining the improved particle swarm algorithm with the 3-5-3 mixed polynomial function,and each joint is individually optimized under the condition of satisfying the kinematic constraints,and the shortest joint motion time is sought to prove the effectiveness of the method.(4)In the PQArt offline programming software,the sole dispensing system is built,the trajectory is generated by using the method of 3D model points and lines,the posture results of the glue gun operation are simulated and verified,and the implementability of the sole dispensing system is verified.By conducting actual glue spraying experiments in enterprises and comparing the changes in robot spraying time before and after trajectory optimization,it is proved that time optimization of trajectories is feasible and can meet the actual operation requirements.