Cylindrical crossed roller bearing automatic assembly mechanical arm and track planning method thereof

The invention discloses an automatic assembling mechanical arm for a cylindrical crossed roller bearing and a track planning method of the automatic assembling mechanical arm. The mechanical arm directly drives all mechanisms needing to move through a plurality of driving mechanisms. The trajectory planning method comprises the steps that firstly, the motion trajectory of the mechanical arm is divided into three interval sections, the interval sections are subjected to trajectory planning by applying polynomial interpolation functions of different orders, the shortest motion trajectory of the mechanical arm is calculated through an improved grey wolf algorithm with the exploration step length added, and the shortest motion time of the three intervals is obtained; and then the longest joint movement time in the shortest movement time obtained through calculation is selected as the total movement time, so that the joints move synchronously. The mechanical arm is high in transmission efficiency, and cylindrical