Polishing robot structure optimization based on workspace analysis

摘要

In order to improve productivity and solve the Potential shortage of skilled workers in polishing manufacturing, a new type multi-station rotary polishing robot was proposed. The robot structure was discussed in some detail, the kinematics and inverse kinematics of this robot was analyzed By D-H parameter method. The maximum and minimum value in X, Y and Z direction of this robot work space was calculated based on genetic algorithm. In order to reduce the size of robot structure and the cost of the robot, under the premise of meeting the requirements of Specified workpiece polishing, the robot workspace was analyzed using the related parameters reducing by half. Finally a set of rational optimized parameters considering various actual factors was selected. The robot workspace was analyzed by Monte Carlo method using these parameters. After verification, the robot using this set of parameter can meet the requirement of the actual processing.