Planning trajectories of a manipulation robot with a spherical coordinate system for removing oxide film in the production of commercial lead, zinc

Abstract

The object of this study is the technological operation of removing the oxide film from the surface of the metal melt, foundry production of commercial lead, zinc. To carry out the robotization of this technological operation, it is proposed to use a manipulation robot with a spherical coordinate system. A kinematic structure of a manipulation robot with six degrees of mobility and two arms is proposed. On the first arm of the manipulation robot, a movable blade is fixed, and on the second arm, a rotary blade is fixed. With the translational movement of the first hand, the movable blade rakes the oxide film onto the rotary blade. Further, the oxide film collected on the rotary blade is thrown into a special container with a rotational movement. Restrictions are introduced on the values of generalized coordinates, velocities, and accelerations for each degree of mobility of the manipulation robot. Taking into account these limitations, for the implementation of this process, software trajectories have been developed for the degrees of mobility of the manipulation robot, which are approximated by quadratic polynomials. Each program movement is divided into three sections, in the first section acceleration with a given acceleration is carried out, in the second section movement with a given speed, in the third section braking with a given acceleration. To assess the reliability of the developed software trajectories, simulations were carried out in the MatLab software environment, version R2015b. The resulting graphs of program trajectories coincide with the calculated values of the generalized coordinates, time intervals, speeds, and accelerations of change in the generalized coordinates in terms of the degrees of mobility of the manipulation robot. The period of time required to remove the oxide film is 15.88 s. On the basis of the results obtained, a cyclogram for controlling a manipulation robot was built to perform the technological operation of removing the oxide film in the production of commercial lead, zinc