Robot trajectory planning for gear chamfer grinding based on multi-objective collaborative optimization and quintic B-spline interpolation algorithm

被引：0

作者：

Zhu, Yongguo ^{[1
]}

Wang, Xin ^{[2
]}

YafeiWang, Xin ^{[3
]}

Zhuo, Xin ^{[4
]}

Zhang, Huike ^{[1
]}

Wan, Yuan ^{[5
]}

机构：

[1] Nanchang HangKong Univ, Dept Aeronaut Mfg & Mech Engn, Nanchang 330063, Peoples R China

[2] Jiangxi Vocat Coll Mech & Elect Technol, Sch Mech Engn, Nanchang 330013, Peoples R China

[3] COMAC Shanghai Aircraft Mfg Co Ltd, Mfg Engn Technol Ctr, Shanghai 201324, Peoples R China

[4] Jiangxi Vocat Tech Coll Ind & Trade, Dept Mechatron Engn, Nanchang 330103, Peoples R China

[5] Jiangxi Guoke Def Grp Co Ltd, Mil Res Inst Intelligent Mfg Ctr, Nanchang 330013, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY | 2025年 / 138卷 / 9-10期

关键词：

Gear; Chamfer; Grinding; Robot; Trajectory planning; Multi-objective collaborative optimization;

D O I：

10.1007/s00170-025-15716-3

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In response to the shortcomings, such as the incomplete quantification of evaluation indexes for robot trajectory planning and the inadequate consideration of robot joint motion performance during the gear chamfer grinding process, a robot trajectory planning method is proposed based on multi-objective collaborative optimization and quintic B-spline interpolation. Firstly, the robot trajectory of the gear chamfer grinding is pre-planned based on the three-dimensional model of the gear, and the robot trajectory points are discretized for the gear chamfer grinding. Subsequently, a multi-objective weighted comprehensive evaluation model for the chamfer grinding trajectory is established to quantitatively assess the quality of the chamfer grinding trajectory. Secondly, a multi-objective collaborative genetic algorithm is proposed to solve the mathematical model of the chamfer grinding trajectory, obtaining the optimal solution set of trajectory points. Next, a quintic B-spline interpolation algorithm is used to obtain the characteristic points of the robot joint trajectory to improve the motion performance of the robot joints. Finally, a comprehensive optimization method using the multi-objective collaborative genetic algorithm and the quintic B-spline interpolation algorithm is proposed for the gear chamfer grinding trajectory and joint trajectory of the robot. Experiment results show that the comprehensive evaluation index of the grinding trajectory is significantly improved, and the stability of the robot's motion start-stop is greatly enhanced by using the gear chamfer grinding robot trajectory planning method proposed in this paper.

引用

页码：4397 / 4414

页数：18

共 18 条

[11] The effect of manufacturing method and running-in load on the surface integrity of efficiency tested ground, honed and superfinished gears [J].

Mallipeddi, D. ;

Norell, M. ;

Sosa, M. ;

Nyborg, L. .

TRIBOLOGY INTERNATIONAL, 2019, 131 :277-287

[12]

Tian Guo-fu, 2018, HEAVY MACHINERY, V5, P66, DOI [10.3969/j.issn.1001-196X.2018.05.016, DOI 10.3969/J.ISSN.1001-196X.2018.05.016]

[13] A new path-constrained trajectory planning strategy for spray painting robots - rev.1 [J].

Trigatti, Giulio ;

Boscariol, Paolo ;

Scalera, Lorenzo ;

Pillan, Daniele ;

Gasparetto, Alessandro .

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2018, 98 (9-12) :2287-2296

[14]

Wan guoyang, 2021, Computer Integrated Manufacturing Systems, V27, P118, DOI 10.13196/j.cims.2021.01.10

[15] Smooth point-to-point trajectory planning for industrial robots with kinematical constraints based on high-order polynomial curve [J].

Wang, He ;

Wang, Heng ;

Huang, Jiahai ;

Zhao, Bin ;

Quan, Long .

MECHANISM AND MACHINE THEORY, 2019, 139 :284-293

[16]

Wenjuan HU., 2023, SMALL SPECIAL ELECT, V51, P61, DOI [10.3969/j.issn.1004-7018.2023.02.011, DOI 10.3969/J.ISSN.1004-7018.2023.02.011]

[17]

Zhang Hui, 2020, MODULAR MACHINE TOOL, V11, P71, DOI [10.13462/j.cnki.mmtamt.2020.11.041, DOI 10.13462/J.CNKI.MMTAMT.2020.11.041]

[18]

Zhou Zhen, 2023, INTELL COMPUTER APPL, V13, P77, DOI [10.3969/j.issn.2095-2163.2023.01.014, DOI 10.3969/J.ISSN.2095-2163.2023.01.014]

← 1 2 →