Research On Grinding Trajectory Planning Of Industrial Robot For Motorcycle Handrail

With the advancement of manufacturing transformation and upgrading,industrial robots are gradually replacing manual operations with high labor intensity,high repeatability,and harsh environment,such as industrial robots grinding complex surface parts.With the gradual deepening of the application of industrial robots,the autonomous and efficient movement of industrial robots in complex environments has become a research hotspot.Trajectory planning and autonomous completion of industrial robots are very important to ensure the safety of industrial robots,improve work efficiency,reduce energy consumption and prolong life.This paper focuses on the trajectory planning of industrial robot grinding and the realization of industrial robot automatic grinding.The automatic grinding process and equipment are analyzed.The non-uniform B-spline curve interpolation method is used to plan and improve the grinding trajectory,and the optimal trajectory of time and impact comprehensive performance is obtained by improving the sparrow algorithm and changing the weight.The main research contents are as follows :(1)Taking the motorcycle armrest as the research object,according to the requirements of armrest grinding process,a set of grinding workstation suitable for the actual working conditions of RH company is established by combining the flexible grinding head with constant grinding force,industrial robot and supporting equipment.(2)The D-H method is used to model the kinematics of industrial robots,and the correctness of the selected industrial robot model is verified.The forward and inverse kinematics of the industrial robot model are studied.The forward kinematics derives the pose matrix of the end effector from the base coordinate,and the inverse kinematics calculates the motion angle of each joint through the pose matrix.(3)The non-uniform B-spline curve is used to plan the grinding trajectory.The fiveorder non-uniform B-spline curve interpolation joint trajectory is obtained through simulation experiments.This method can improve the smoothness of joint angular velocity,angular acceleration and pulse motion curve.The improved sparrow algorithm is used to optimize the time-pulsating impact multi-objective optimization.The optimal weight value is selected according to the comparative experiment,and the time-pulsating impact comprehensive optimal solution is obtained according to the selected weight value.MATLAB trajectory planning simulation experiments show that this method can not only effectively improve the operation efficiency of industrial robots,reduce pulsation impact,improve trajectory smoothness,but also reduce energy consumption.(4)Based on Robot Studio software,by importing the model,configuring the workstation system,establishing tools and workpiece coordinates,etc.,a grinding workstation that meets the actual production needs is constructed.The grinding experiment is carried out by using the simulation software to verify the rationality of the grinding trajectory,and the offline grinding trajectory is derived through the post function.