Transactions of Materials and Heat Treatment

Title：Trajectory planning of stamping robot with the minimal time

Authors： Shen Dongdong Chen Yitao Yang Xiaomei

Unit： Wuhan Textile University

KeyWords： 4-DOF series stamping robot trajectory planning time optimization D-H parameter method

ClassificationCode：TP242.2

year,vol(issue):pagenumber：2017,42(5):66-73

Abstract：

For the automatic loading and unloading process of a 4-DOF series stamping robot, with the known initial position and target position of the robot but the uncertain movement time and path, taking the joint driving force, the driving velocity and the process in the engineering practice as the constraint conditions, the shortest optimization period of a single working cycle was carried out to maximize the improvement of the robot work efficiency. Firstly, the link-pole coordinate system of the robot was established by the D-H method, and the transformation matrix of joints and the kinematics equations were listed. Therefore, the Jacobi matrix of the robot was obtained by the differential transformation method, and the expressions of the joint moment were obtained by the Newton-Euler method. Secondly, the displacement trajectory of joint was fitted with quintic polynomial, while the motion time was parameterized. Finally, the optimal motion time of the robot was calculated to satisfy the velocity and force (moment) limitation of the joint by the bisection method. Thus, a new corresponding trajectory was generated, and a contrast experiment was carried out. The results show that it can effectively shorten the work period of stamping robot by this trajectory planning method.

Funds：

国家自然科学基金资助项目（51505344）

沈东东（1990-），男，硕士研究生陈燚涛（1972-），男，博士，副教授

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