Author(s)

An Zhu ¹, Zhongmin Wang ¹

Affiliation(s)

¹ School of Mechanical Engineering, Tianjin University of Technology and Education, Tianjin, China

Corresponding Author

An Zhu

ABSTRACT

The rotor is the main core component of the powder separator, and the processing quality of the rotor directly affects the working efficiency of the separator and the operation safety of the separator, for the problems of unprotected welding quality of the rotor of the separator and high labor intensity of manual labor, for the problem of time-optimal trajectory planning of the welding robot, the welding robotic arm as the object of the study, using the D-H method of modeling and forward and inverse kinematics analysis. An improved particle swarm algorithm is proposed to optimize the trajectory of a spin-welding robot arm due to the inefficiency of traditional robot trajectory planning and unstable operation. The method effectively combines the 3-5-3 polynomial interpolation function with the improved algorithm using time as the fitness function. By comparing the traditional particle swarm algorithm, it is shown that the improved algorithm can be better applied to the time-optimal trajectory planning of the welding robot arm.

KEYWORDS

Rotor welding robot; D-H method; Particle swarm algorithm; Polynomial interpolation function; Trajectory planning

CITE THIS PAPER

An Zhu, Zhongmin Wang, Trajectory Planning of Rotor Welding Manipulator Based on an Improved Particle Swarm Optimization Algorithm. Advances in Computer, Signals and Systems (2024) Vol. 8: 122-129. DOI: http://dx.doi.org/10.23977/acss.2024.080617.

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