特钢棒材砂带自动磨削系统轨迹规划

Trajectory Planning of Automatic Abrasive Belt Grinding System for Special Steel Bar

为提高特钢棒材表面缺陷去除效率,改善工人工作环境,以六自由度机械臂为主驱动部件,结合砂带磨削机构建了特钢棒材自动磨削系统。根据在其操作空间中设计连续N型缺陷磨削路径,并构建砂带磨削力模型。在关节空间中运用7次非均匀B样条开曲线建立单N型磨削路径与关节轨迹的映射关系。构建包含关节速度、力矩与空间路径误差约束的时间最优轨迹规划模型,并利用惩罚函数与自适应遗传算法求解。仿真获得各关节磨削轨迹并对比分析空间路径误差约束,可提高自动磨削系统运动的稳定性。搭建了轧制缺陷视觉引导的自动磨削系统,并实验验证连续N型缺陷磨削路径的有效性。

To raise the removal efficiency of surface defects of special steel bar and improve the working environment of workers,an automatic grinding system for special steel bar was consisted of a 6-DOF manipulator as the main driving component and an abrasive belt grinding mechanism.The grinding path of continuous n-type defects is designed in its operation space,and the grinding force model of abrasive belt is constructed.In joint space,the mapping relationship between single N-type grinding path and joint trajectory is established by using 7-degree non-uniform B-spline open curve.A time optimal trajectory planning model with constraints of joint velocity,torque and spatial path error is constructed and solved by penalty function and adaptive genetic algorithm.The motion stability of the automatic grinding system can be improved by simulating the grinding trajectory of each joint and analyzing the spatial path error constraints.A vision guided automatic grinding system for rolling defects is built,and the effectiveness of grinding path for continuous n-type defects is verified by experiments.