Design and Trajectory Optimization of an Object Loading Robot

doi:10.3969/j.issn.1000-1093.2020.04.015

Abstract

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

CLC Number:

TP242.3

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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第41卷第4期2020 年4月
兵工学报ACTA ARMAMENTARII
Vol.41No.4Apr.2020

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