Research On Optimization Of Mobile-robotic Sanding System Joint Configurations For High-speed Train Body

At present,putty polishing of high-speed rail bodies is still by manual,and there are problems such as low work efficiency,poor sanding quality and harmful working environment.With the development of industrial robot technology,the robot processing integration technology for large components is growing mature.Mobile-robotic system with external axis is mainly used in high-speed train body sanding.But there are some motion constraints during robot working,so it is necessary to find the robot’s base position and tool coordinate system to get the appropriate configuration.However,for most project,there are still need plan robot’s coordiante system by trying.In order to improve the planning effiency,this paper plans the sanding trajectory for high-speed rail bodies,and combine the motion constraint conditons,based on particle swarm optimization method,a method of finding robot’s base position and tool coordinate system to get the optimum sanding configuration in the mobile-robotic sanding system is proposed.The main research are as follows:Build the kinematics model by D-H parameters for IRB4600-40/2.55 robot.When robot polish different areas,it needs to adjust the tool coordinate to change the robot’s configuration,combine this case the IK algorithm is modified.Aiming at the characteristics of body surface consistency,according to the diffirent types of body surface,a planning algorithm based on intersection of the bounding box and equidistant-plane is proposed.At the same time,the IK multi-soluiton problem is solved by analysising the continuity of robot motion and the uniqueness of the configuration,this result is the fundamental of select the robot’s optimum configuration.Comprehensive the motion constraints during the sanding process,various constraints are indexed.Then according to PSO,a method of finding robot’s base position and tool coordinate system to get optimum joint configuration of the mobile-robotic sanding system is proposed.This method can keeps robots away from joint-limits,singularity and collision.Finally,the correctness of algorithm is verified by building platform for simulation experiment on Robot Studio software.