Development of programmed trajectories based on the mobility degrees of manipulation robot with a spherical coordinate system for removing oxide film in the production of commercial magnesium

Abstract

The object of this study is to robotize the technological operation of removing the oxide film from the surface of a magnesium melt poured into continuously moving molds of a casting conveyor for the production of commercial magnesium. To robotize this technological operation, it is proposed to use a two-armed manipulation robot with a spherical coordinate system, which has six degrees of mobility. Software trajectories have been developed according to the degrees of mobility of the manipulation robot in terms of position, speed, and acceleration to perform the technological operation of removing the oxide film from the surface of the magnesium melt poured into the moving molds of the foundry conveyor. Programmed trajectories are described by quadratic polynomials that satisfy restrictions on the values of the generalized coordinate, velocity, and acceleration. These limitations are determined by the design features and energy capabilities of the degrees of mobility drives of the manipulation robot. Programmed trajectories along the first and second degrees of freedom compensate for the continuous movement of the molds of the foundry conveyor. Programmed trajectories along the third and fourth degrees of mobility enable the collection of the oxide film from the surface of the magnesium melt. Programmed trajectories along the fifth and sixth degrees of freedom enable the discharge of the collected oxide film into a special container. The reliability of the developed programmed trajectories is confirmed by the simulation results using MATLAB version R2015b. Based on the results, a cyclogram for controlling a manipulation robot has been constructed to perform the technological operation of removing the oxide film in the production of commercial magnesium. The results could be used in the robotization of technological processes for removing the oxide film in the production of commercial magnesium or similar foundries