Journal of South China University of Technology (Natural Science Edition) ›› 2010, Vol. 38 ›› Issue (8): 56-60.doi: 10.3969/j.issn.1000-565X.2010.08.011

• Mechanical Engineering • Previous Articles     Next Articles

Motion Planning and Path Optimization of Manipulator for Holes Machining

Zou Yan-biao  Zhang Tie  Chen Wei-hua   

  1. School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, Guangdong, China
  • Received:2010-03-26 Revised:2010-05-25 Online:2010-08-25 Published:2010-08-25
  • Contact: 邹焱飚（1971-），男，博士，讲师，主要从事机器人理论及其工程应用研究． E-mail:ybzou@scut．edu.cn
  • About author:邹焱飚（1971-），男，博士，讲师，主要从事机器人理论及其工程应用研究．
  • Supported by:

    国家“863”计划重点项目（2009AA043901）;华南理工大学中央高校基本科研业务费资助项目（20092M0304）

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Abstract:

In order to improve the processing efficiency, the motion planning and path optimization of a three-axis Cartesian coordinate manipulator, which is designed for the drilling of holes in piano chord axis plates, are investigated. In this investigation, the linear interpolation algorithm with parabolic transition is applied to the motion planning of the drilling, and a smooth trajectory with continuous position and velocity is generated. Then, a mathematical model describing the path planning for holes machining is established, with the shortest processing path as the object and with a collision-free way to bypass all the obstacles as the constraint. Moreover, a multi-layer genetic algorithm is used to find the solution to the mathematical model. Finally, six types of piano chord axis plates are used for algorithm verification. The results verify the effectiveness of the proposed algorithm.

Key words: holes machining, motion planning, genetic algorithm, path optimization, traveling salesman problem