Motion and Trajectory Planning and Simulation of a High Frequency Transformer Winding Robot Pose

Abstract

The application of high-frequency transformers is related to the development of all walks of life in the national economy and people’s livelihood, among which the fast and agile performance of winding knots in the system operation platform is crucial to the production efficiency and quality assurance of transformers. Aiming at the problems of slow attitude movement and trajectory planning time and complicated path trajectory points in the offline system of robots in the traditional production line, this paper proposes an optimization trajectory optimization algorithm based on the combination of accurate unit scanning and Cartesian spatial trajectory planning. When the known effective working space range is determined, the end effector of the robotic arm conducts trajectory search according to a specified time series after obstacle avoidance to find an optimal trajectory that meets the user parameters. At the same time, for the polyline trajectory, this paper uses the multi-dimensional interpolation method, that is, the adopted Cartesian space trajectory planning for smooth processing. Finally, through the MatlabRobot toolbox to end effector arm end angular velocity, angular acceleration for simulation research, according to the simulation results, it can be seen that the arm end angular velocity in three-dimensional space is controlled at −1m/s ~ 1m/s, angular acceleration is basically stable in the Z axis, and controlled in the X axis at −3m/s 2 ~1m/s2, so the control of the fusion algorithm on the motion and trajectory planning of the robot system is reasonable, and it also meets the quantitative needs of users.