Axis motion optimization method of a six-axis robot in a three-dimensional printing device

Abstract

The present invention provides a method for optimizing the axis motion of a six-axis robot in a three-dimensional printing device, comprising the following steps: step S1, collecting the structural lattice model data of the 3D model to be printed; step S2, importing the structural lattice model data In the 3D printer, step S3, selecting the axis joint to be optimized; step S4, defining the target point to be printed in the structural lattice model data as the target origin coordinate P; step S5, comparing the target origin coordinate P with the axis to be optimized A mechanical transformation structural formula is established between the joints; step S6, according to the action angle required by the shaft joints, the movement trajectory angle of the print target origin coordinate P is reversed from the mechanical transformation structural formula. The invention discloses a convenient and stable axis motion optimization method suitable for a six-axis robot in a three-dimensional printing device.

Description

technical field [0001] The invention relates to the field of mechanical automation control, in particular to an axis motion optimization method of a six-axis robot in a three-dimensional printing device. Background technique [0002] The mainstream of 3D printing is divided into hierarchical printing and spatial structure printing according to the printing path. Generally, abs, pla, concrete, metal surfacing, thermosetting materials, etc. are used. The present invention has room for application in all of the above printing methods. [0003] At present, the main method of 3D printing for robots is to describe a series of 3D space points and transmit them to the robot in the form of offline files. The robot then calculates the degree of rotation of each axis of the robot itself through the built-in inverse kinematics algorithm, so as to make The own end tool head can reach the target point. [0004] In the traditional six-axis robot, it includes driving connection between t...

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Problems solved by technology

In the prior art, the methods used, for example, patent: CN201811562534.8, a method for optimizing the trajectory of manipulator joints based on time grouping; and patent: CN201310145357.4, a method for optimizing the trajectory planning of mobile manipulators based on genetic algorithms The public ones all adopt the method of optimizing the motion trajectory, which requires a lot of time for numerical iterative optimization, and the operation is cumbersome, and the initial optimization of the action is achieved, and the optimization effect is not good.

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