Robot trajectory planning for Gear chamfer grinding based on multi-objective collaborative optimization and quintic B-spline interpolation algorithm

Robot trajectory planning for Gear chamfer grinding based on multi-objective collaborative optimization and quintic B-spline interpolation algorithm | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Robot trajectory planning for Gear chamfer grinding based on multi-objective collaborative optimization and quintic B-spline interpolation algorithm Yongguo Zhu, Xin Wang, Yafei Wang, Xin Zhuo, Huike Zhang, Yuan Wan This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-5311319/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 28 May, 2025 Read the published version in The International Journal of Advanced Manufacturing Technology → Version 1 posted 5 You are reading this latest preprint version Abstract In response to the shortcomings, such as the incomplete quantification of evaluation indexes for robot trajectory planning and the inadequate consideration of robot joint motion performance during the gear chamfer grinding process, a robot trajectory planning method is proposedbased on multi-objective collaborative optimization and quintic B-spline interpolation. Firstly, the robot trajectory of the gear chamfer grinding is pre-planned based on the three-dimensional model of the gear, and the robot trajectory points are discretized for the gear chamfer grinding.Subsequently, a multi-objective weighted comprehensive evaluation model for the chamfer grinding trajectory is established to quantitatively assess the quality of the chamfer grinding trajectory.Secondly, a multi-objective collaborative genetic algorithm is proposed to solve the mathematical model of the chamfer grinding trajectory, obtaining the optimal solution set of trajectory points.Next, a quintic B-spline interpolation algorithm is used to obtain the characteristic points of the robot joint trajectory to improve the motion performance of the robot joints.Finally, a comprehensive optimization method using the multi-objective collaborative genetic algorithm and the quintic B-spline interpolation algorithm is proposed for the gear chamfer grinding trajectory and joint trajectory of the robot. Experiment results show that the comprehensive evaluation index of the grinding trajectory is significantly improved, and the stability of the robot's motion start-stop is greatly enhanced by using the gear chamfer grinding robot trajectory planning method proposed in this paper. Gear Chamfer Grinding Robot Trajectory planning Multi-objective collaborative optimization Full Text Cite Share Download PDF Status: Published Journal Publication published 28 May, 2025 Read the published version in The International Journal of Advanced Manufacturing Technology → Version 1 posted Editorial decision: Minor Revisions Needed 26 Apr, 2025 Reviewers agreed at journal 27 Oct, 2024 Reviewers invited by journal 27 Oct, 2024 Editor assigned by journal 24 Oct, 2024 First submitted to journal 23 Oct, 2024 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-5311319","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":370876162,"identity":"6f0bb9f8-6b41-4949-bed0-d1a6a68ab09e","order_by":0,"name":"Yongguo 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Technology","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"em","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"Gear, Chamfer, Grinding, Robot, Trajectory planning, Multi-objective collaborative optimization","lastPublishedDoi":"10.21203/rs.3.rs-5311319/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-5311319/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eIn response to the shortcomings, such as the incomplete quantification of evaluation indexes for robot trajectory planning and the inadequate consideration of robot joint motion performance during the gear chamfer grinding process, a robot trajectory planning method is proposedbased on multi-objective collaborative optimization and quintic B-spline interpolation. Firstly, the robot trajectory of the gear chamfer grinding is pre-planned based on the three-dimensional model of the gear, and the robot trajectory points are discretized for the gear chamfer grinding.Subsequently, a multi-objective weighted comprehensive evaluation model for the chamfer grinding trajectory is established to quantitatively assess the quality of the chamfer grinding trajectory.Secondly, a multi-objective collaborative genetic algorithm is proposed to solve the mathematical model of the chamfer grinding trajectory, obtaining the optimal solution set of trajectory points.Next, a quintic B-spline interpolation algorithm is used to obtain the characteristic points of the robot joint trajectory to improve the motion performance of the robot joints.Finally, a comprehensive optimization method using the multi-objective collaborative genetic algorithm and the quintic B-spline interpolation algorithm is proposed for the gear chamfer grinding trajectory and joint trajectory of the robot. Experiment results show that the comprehensive evaluation index of the grinding trajectory is significantly improved, and the stability of the robot's motion start-stop is greatly enhanced by using the gear chamfer grinding robot trajectory planning method proposed in this paper.\u003c/p\u003e","manuscriptTitle":"Robot trajectory planning for Gear chamfer grinding based on multi-objective collaborative optimization and quintic B-spline interpolation algorithm","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2024-11-06 09:45:43","doi":"10.21203/rs.3.rs-5311319/v1","editorialEvents":[{"type":"communityComments","content":0},{"type":"decision","content":"Minor Revisions Needed","date":"2025-04-26T04:14:17+00:00","index":"","fulltext":""},{"type":"reviewerAgreed","content":"","date":"2024-10-27T14:47:03+00:00","index":0,"fulltext":""},{"type":"reviewersInvited","content":"","date":"2024-10-27T14:37:54+00:00","index":"","fulltext":""},{"type":"editorAssigned","content":"","date":"2024-10-24T13:33:41+00:00","index":"","fulltext":""},{"type":"submitted","content":"The International Journal of Advanced Manufacturing Technology","date":"2024-10-23T10:19:03+00:00","index":"","fulltext":""}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"the-international-journal-of-advanced-manufacturing-technology","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"jamt","sideBox":"Learn more about [The International Journal of Advanced Manufacturing Technology](https://www.springer.com/journal/170)","snPcode":"170","submissionUrl":"https://submission.nature.com/new-submission/170/3","title":"The International Journal of Advanced Manufacturing Technology","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"em","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false}}],"origin":"","ownerIdentity":"32d97e3b-4150-4069-a371-3ebd91b8d1ff","owner":[],"postedDate":"November 6th, 2024","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"published-in-journal","subjectAreas":[],"tags":[],"updatedAt":"2025-06-02T16:10:10+00:00","versionOfRecord":{"articleIdentity":"rs-5311319","link":"https://doi.org/10.1007/s00170-025-15716-3","journal":{"identity":"the-international-journal-of-advanced-manufacturing-technology","isVorOnly":false,"title":"The International Journal of Advanced Manufacturing Technology"},"publishedOn":"2025-05-28 15:57:21","publishedOnDateReadable":"May 28th, 2025"},"versionCreatedAt":"2024-11-06 09:45:43","video":"","vorDoi":"10.1007/s00170-025-15716-3","vorDoiUrl":"https://doi.org/10.1007/s00170-025-15716-3","workflowStages":[]},"version":"v1","identity":"rs-5311319","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-5311319","identity":"rs-5311319","version":["v1"]},"buildId":"qtupq5eGEP_6zYnWcrvyt","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}