关键词: 打磨机器人, 导弹弹体内壁；S形加减速, 轨迹规划, 时间分割法

Abstract:

Aiming at the grinding particularity of a class of missile inner-wall heat insulating layer with rotation ellipsoid structure, a four-axis simultaneous motion inner-wall grinding robot was developed. Moreover, referring to the pre-interpolation S-shape acceleration /deceleration and smooth transfer in CNC, the grinding robot trajectory planning was carried on. The trajectory planning was able to avoid impact, overshoot and oscillation in the start and stop processes of robot basic. And through the analysis of parametric relationship, the constraints of S-shape acceleration/deceleration were presented to simplify the solution. Moreover, the equal arc length time-sharing interpolation algorithm was applied to transform the displacement planned by S-shape acceleration/deceleration in every control time into corresponding coordinate of rotating ellipsoid grinding point. The simulation results prove the inner-wall grinding robot’s trajectory planning with high precision, speed and smoothness. All of these provide the necessary precondition for accuracy grinding of missile inner-wall grinding.

Key words: grinding robot, missile inner-wall, S-shape acceleration/deceleration, trajectory planning, time-sharing interpolation algorithm