Abstract
Collision may occur during the grinding of a workpiece by a robot sand belt. To solve this problem, a collision-free planning algorithm for the robot motion path is developed based on the collision layer method. Collision-free planning of the robot motion path is studied, and a means to adjust the machining frame on the belt is determined (i.e. moving along the axis of the belt and rotating around the tangent line). The planning curve is rapidly found on the collision layer using neighborhood search and recursive methods, and the amount of collision detection is significantly reduced. The planning curve is transformed into the robot motion path. Simulation and experimentation show that the amount of collision detection required by the proposed algorithm is 3.86% less than that required by a method using a complete collision layer. Moreover, the robot grinds the workpiece without collision. The proposed method is simple, stable, and easy to implement and possesses a good engineering application value.
Highlights
Robot belt grinding can overcome the shortcomings of manual belt grinding because of its high efficiency and precision
Local gouging refers to the interference between the cutter and workpiece near the cutter contact, and rear gouging refers to the interference between the other parts of the tool and the workpiece
A collision-free algorithm for robot motion path based on the collision layer method is proposed to solve the problem of collision occurring in the process of grinding a workpiece
Summary
Robot belt grinding can overcome the shortcomings of manual belt grinding because of its high efficiency and precision. Collision-free planning for robot motion path is equivalent to specifying position d on coordinate axis a^ for machining frame fM0g corresponding to each CC point on the workpiece grinding path. Let the Pn be the nth CC point of grinding path and fMn0 g represents the machining frame of the Pn. For the collision detection process, first, the robot joint position qn corresponding to the nth CC point is calculated based on Pn and fMn0 g. Bidirectional planning curve searching algorithm based on the recursive method when the workpiece or robot collides with the tool when machining to the ith CC point, it is necessary to start from the midpoint of a collision-free zone at n 1⁄4 i, as shown in m1, respectively, forward and backward to find the planning curves which connect to initial curve, so that the whole curve to avoid the collision area, to achieve the motion path without collision.
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