等离子去板坯毛刺机器人轨迹规划与仿真

Trajectory Planning and Simulation of Plasma Robot for Cutting Slab Burr

针对传统连铸工况去毛刺设备的不足,提出了工业机器人搭载等离子去除板坯毛刺新方法,并使用SolidWorks正向设计专用的五轴机器人模型。根据机器人工作实际工况,分段规划其工作路径,并采用MATLAB对不同段轨迹进行仿真规划。接着将机器人模型导入ADAMS中,利用MATLAB轨迹仿真数据作为驱动函数对机器人进行动力学仿真分析。仿真结果验证了等离子去板坯毛刺机器人轨迹规划的合理性,为后续本体的优化设计和控制的提升提供了有价值的理论依据。

Aiming at the shortcomings of traditional deburring equipment for continuous casting,a new method of removing slab burr using an industrial robot equipped with plasma cutting equipment is adopted,and a special 5-axis robot model is designed using SolidWorks. According to the actual working conditions of the robot,the working path of the robot is planned in stages,and the MATLAB simulation of different sections of the trajectory is performed. Then the robot model is imported into ADAMS. The trajectory simulation data in MATLAB is used as a driving function to perform dynamic simulation analysis of this robot. The simulation results verify the rationality of the trajectory planning and provide valuable data references for the follow-up ontology design optimization and control quality improvement.