面向轮毂打磨的机器人冲击最优轨迹规划

Optimal Trajectory Planning of Impact for Hub Grinding Robot

对串联机器人进行轮毂打磨冲击最优轨迹规划。首先对机器人建模和运动学求解,排除工作空间中的奇异位置。利用三维建模软件基于轮毂现实尺寸,打磨路径点。对打磨路径进行分割整理,对打磨过程中的直线和圆弧进行插补。使用多项式样条插值对轨迹进行冲击最优规划,并利用MATLAB的机器人工具箱对机器人各关节进行运动仿真,得到关节的运动数据。利用激光跟踪仪对串联机器人进行标定,并获取机器人打磨工况下的末端数据,与仿真结果进行比对。实验结果基本符合仿真预期结果,多项式样条插值使轨迹连续性更好,但会局部增大机器人末端轨迹的误差。

Based on ANSYS finite element software,the temperature field of hot roll was simulated from the perspective of heat transfer,and the cooling curve of the hot roll was analyzed by combining the mathematical model of the hot roll transient temperature field.Considering the complex boundary conditions of the hot roll,the finite difference method was used to establish the calculation model of the transient temperature field of the hot roll surface.Based on the high symmetry of the boundary conditions of hot roll during the rolling process,the simulation model of the hot roll was simplified,and the ANSYS finite element model obtained by this method was consistent with the temperature field mathematical model.Simulation results show that the core temperature distribution is uniform during hot rolling,the surface temperature distribution gradient is large,and the temperature difference between the rolling zone and the non-rolling zone is large.During the cooling process,the non-rolling zone temperature and the core temperature will first increase slightly.This model can predict the transient temperature distribution of hot rolls and master the cooling rules of rolls.