Trajectory Optimization and Motion Simulation of a Flexible Polishing Industrial Robot for Watchcases

• 作者: YANG Jingjing JIN Xiaoyi XIE Tengxiao XI Ying
• 来源期刊: 东华大学学报（英文版）
• 年，卷（期）: 2021,（2）
• 所属期刊栏目: Intelligent Detection and Control
• 页码范围: 129-139
• 页数: 11页
• 分类号: TG659
• 语种: 英文
• DOI: 10.19884/j.1672-5220.202009070

摘要

To optimize the working time of the flexible polishing industrial robot for watchcases, the polishing efficiency should be improved. Based on the quintic B-spline fitting curve trajectory planning method associated with the optimal time interval and the trajectory point angle, the trajectory route of the flexible polishing industrial robot for case parts was optimized by the Matlab software. The operation time of the flexible polishing industrial robot could reach the optimal level. The joints of the robot can be cooperated with each other to ensure that the motion track of the end-effector of the robot arm is closer to the expected motion track. Based on the Adams software, the obtained trajectory curve of multi-objective optimization was simulated, which verified the trajectory fitted after multi-objective optimization. The angular acceleration and angular plus acceleration curves were improved. Theoretical guidance was carried out for the subsequent experiment by Matlab and Adams simulation analysis.