Trajectory Planning And Implementation Of A Novel Controllable Metamorphic Palletizing Robot

Controllable metamorphic palletizing robot is a new type of industrial robot proposed in recent years.It has the characteristics of multi-functional stage change,multi topology change and multi degree of freedom change of variable cell mechanism.It can flexibly change the degree of freedom during work to complete accurate cargo positioning and stable handling,and has good flexibility and working stability.The research on motion planning of this kind of robot is still rare.Robot trajectory planning can improve the working efficiency and quality of the robot.The research on trajectory planning of this kind of robot is of great significance to realize its popularization in the industrial field.Firstly,this paper takes the controllable metamorphic palletizing robot as the research object,analyzes its working principle,and models the working trajectory of the robot.Considering the influence of robot configuration transformation on trajectory planning algorithm,a trajectory planning method suitable for controllable metamorphic palletizing robot is proposed.Combined with the structural characteristics of this kind of robot trajectory planning problem,the determination methods of design variables,objective functions and constraints in the trajectory planning optimization model are discussed in detail.The general formulas are given and analyzed with examples,and the feasible solution method is given at the same time.Secondly,the coordinate system of the robot is modeled,and the end pose coordinate expression of the robot is obtained.The forward and inverse kinematics of the robot is analyzed and solved by analytical method,and the inverse dynamics is analyzed and solved by Lagrange method.The two common working conditions of the robot are briefly described,the positions of the necessary path points are analyzed,and the auxiliary path points are allocated.The working path points of the robot in the load stage and the no-load stage are planned respectively,and a new metamorphic working path is obtained.Then,taking two actual working conditions of the palletizing robot as examples,the relevant parameters in the mathematical model of the trajectory planning method of the controllable metamorphic palletizing robot are determined.According to the objective functions and constraint conditions of different working processes,the types and parameters of driving functions during the transformation of robot configuration and running in a certain configuration are determined in turn.The trajectory planning theory of multi-objective(timeenergy-pulsation)optimization and single objective(time)optimization are solved for the loading stage of packing process and unloading process respectively.Then,according to the previous theoretical solution results,two configuration transformation modes(static transformation and dynamic transformation)are proposed,the hardware implementation methods of the two transformation modes are given,the control system software is developed and designed,and the control program flow chart of the new transformation working path is given to obtain the implementation method of trajectory planning of this kind of robot.Finally,the theoretical optimal trajectory of the controllable metamorphic palletizing robot is verified by experiments.The principle of the experiment is explained,the experimental steps are designed,the post-processing method of the experimental data is given,and the experimental results are obtained.Finally,the experimental results are given to verify the feasibility of the trajectory planning algorithm and implementation method of the controllable metamorphic palletizing robot proposed in this paper,which provides a reference for the trajectory planning algorithm and implementation method of the variable cell industrial robot.