Research on Feed Rate Planning of Rotating Polishing Blades for Industrial Robots

In order to solve the under-polishing problem in the process of complex surface blade rotating polishing, the S-shaped feed velocity planning method based on the blade parting surface area was proposed. Firstly, the improved D-H model of Kawasaki RS020N industrial robot was established, and the robot end pose was solved. The optimal inverse kinematics solution was obtained through the motion cost minimum function, and the inverse solution was verified with Matlab kinematics simulation. Next, the end space velocity and acceleration curves of T-type velocity trajectory planning and S-type velocity trajectory planning were compared. The joint space change curves of T-type and S-type trajectory planning algorithms were analyzed. Finally, the smooth S-shape curve was verified by blade rotational polishing simulation, which effectively solved the phenomenon of under-polishing at the leading and trailing edges of the blade, improved the contour machining accuracy of the blade surface, through experimental verification, it has been effectively reduced the blade surface roughness value, and can effectively avoid the vibration impact of the industrial robot servo motor when the T-shaped curve speed changes , and the polishing process of the industrial robot is more stable.