一种新型物料装填机器人的设计与轨迹优化

doi:10.3969/j.issn.1000-1093.2020.04.015

兵工学报 ›› 2020, Vol. 41 ›› Issue (4): 763-770.doi: 10.3969/j.issn.1000-1093.2020.04.015

一种新型物料装填机器人的设计与轨迹优化

郑昱¹，广晨汉¹，李前²，杨洋¹

(1.北京航空航天大学机械工程及自动化学院, 北京 100191; 2.上海航天技术研究院上海无线电设备研究所, 上海 201109)

收稿日期:2019-05-23 修回日期:2019-05-23 上线日期:2020-06-02
通讯作者: 杨洋(1962—)，男，教授，博士生导师 E-mail:yang_mech@126.com
作者简介:郑昱(1993—)，男，博士研究生。E-mail：zhengyu_me@buaa.edu.cn
基金资助:
总装备部预先研究项目（41462030101PD03）

Design and Trajectory Optimization of an Object Loading Robot

ZHENG Yu¹， GUANG Chenhan¹, LI Qian², YANG Yang¹

(1.School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China; 2.Shanghai Radio Equipment Research Institute, Shanghai Academy of Spaceflight Technology, Shanghai 201109, China)

Received:2019-05-23 Revised:2019-05-23 Online:2020-06-02

摘要/Abstract

摘要： 为提高车辆等载具内的物料装填效率，设计一种车内受限空间中使用的圆柱物料装填机器人，并对机器人的关节轨迹进行优化。在考虑圆柱物料输送要求和车内空间限制的基础上，提出物料装填机器人总体设计方案，给出机器人工作时的关节运动流程。建立机器人运动学模型，对机器人的工作空间进行分析。使用分段高阶多项式函数拟合机器人关节运动轨迹，采取插值时间变量代替系数变量的简化求解方法和粒子群算法优化关节轨迹。研究结果表明，该物料装填机器人工作空间可覆盖车内空间且满足车内空间限制，优化后的关节轨迹可平稳快速地完成物料装填作业。

关键词: 物料装填机器人, 有限空间, 脉动连续, 轨迹优化, 粒子群算法

Abstract: An object loading robot used in limited space inside a vehicle is proposed to improve the loading efficiency, and the motion trajectory of its joint is optimized. An overall design scheme of loading robot is presented, in which the requirements for conveying of cylindrical materials and in-vehicle limited workspace are considered. A flow chart of joint movement is also worked out. Then a kinematic model of robot is established. Based on the kinematic model, the robot’s workspace is calculated. Higher order polynomial function is adopted to mimic the motion trajectory of robot joint. The particle swarm algorithm is utilized to optimize the parameters of higher order polynomial function, and the optimization progress is simplified by replacing the coefficient variations with interpolation time variables. Research results show that the robot’s workspace could cover the whole space inside vehicle, and satisfy the requirements for in-vehicle limited space. After optimizing the motion trajectory of joints, the robot can load materials smoothly, quickly and steadily. Key

Key words: objectloadingrobot, limitedspace, continuousjerk, trajectoryoptimization, particleswarmalgorithm

中图分类号:

TP242.3

郑昱，广晨汉，李前，杨洋. 一种新型物料装填机器人的设计与轨迹优化[J]. 兵工学报, 2020, 41(4): 763-770.

ZHENG Yu， GUANG Chenhan, LI Qian, YANG Yang. Design and Trajectory Optimization of an Object Loading Robot[J]. Acta Armamentarii, 2020, 41(4): 763-770.

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一种新型物料装填机器人的设计与轨迹优化

Design and Trajectory Optimization of an Object Loading Robot

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