Research on Trajectory Optimization of Six-Axis Manipulator Based on Watchcase Polishing

摘要：

　　In the watchcase polishing industry,due to the complexity of the watchcase surface to be polished and the variety of the watchcase surface,as well as the low manual efficiency and poor quality,this paper proposes an optimization strategy for the trajectory generation of industrial manipulators for polishing.By analyzing the effective optimization parameters of the manipulator,the spline curve interpolation satisfies the validity and rationality of the point-to-point trajectory in the polishing process.Finally,the path optimization is completed on the basis of these.A simulation experiment was carried out on a certain manipulator,and a trajectory curve for actual polishing process was obtained.

关键词： Six-axis manipulator Genetic algorithm Trajectory generation Point-to-point trajectory

作者: Xiang Wang Ying Xi Chao Gu Mengru Li

作者单位: School of Mechanical Engineering,Tongji University,Shanghai 201804,China

会议类型: 国际会议

会议名称: 2019机械设计国际会议暨第20届机械设计学术年会

会议地点: 浙江湖州

会议语种:英文

页码: 729-739

在线出版日期: 2019-08-12（万方平台首次上网日期，不代表论文的发表时间）