摘要
为了满足封闭空间的实验操作,提高手套箱的使用效率,提出一种设计机器人化操作手套箱的机械臂轨迹规划方案,其原理是在手套箱空间内设计一款可操作的机械臂,根据机械臂的尺寸和属性特征以及手套箱的尺寸特征进行运动学分析和轨迹规划。首先对手套箱机械臂进行总体布局设计,合理规划出机械臂固定在手套箱内的上方以及手臂运动范围,依据所设计机器人各关节运动的关系,建立了改进型D-H坐标系,然后使用齐次变换矩阵求出机器人运动学正解及使用反向变换法对逆运动学问题进行求解。提出一种新的插值法3-5-3分段多项式插值法,该插值为三次多项式插值加五次多项式插值的结合,使用分段多项式插值法可以对机械臂更加精确有效地进行轨迹规划与仿真。使用机器学习改进型粒子群优化算法可以对机器人末端轨迹进行时间最短轨迹优化,对机械臂的每个关节进行时间最短优化,对各关节运动轨迹整体优化,能够获取机械臂用时最短的轨迹优化路径。为今后的研究提供新思路、新方法。
A trajectory planning scheme for robotic operation of a glove box is proposed,which involves designing an operable robotic arm within the glove box space.Based on the size and attribute characteristics of the robotic arm,as well as the size characteristics of the glove box,kinematic analysis and trajectory planning are carried out to meet experimental operations in enclosed spaces and improve the efficiency of glove box use.Firstly,the overall layout design of the glove box robotic arm is carried out,and the fixed position of the robotic arm above the glove box and the range of motion of the arm are reasonably planned.Based on the relationship between the joint movements of the designed robot,an improved D-H coordinate system is established.Then,the forward kinematics solution of the robot is obtained using a homogeneous transformation matrix,and the inverse kinematics problem is solved using the inverse transformation method.A new interpolation method,the 3-5-3 piecewise polynomial interpolation method,is proposed,which combines cubic polynomial interpolation with quintic polynomial interpolation.The use of piecewise polynomial interpolation can provide more accurate and effective trajectory planning and simulation for robotic arms.The machine learning improved particle swarm optimization algorithm can be used to optimize the shortest time trajectory of the robot's end effector.Each joint of the robotic arm is optimized for the shortest time,and then the overall motion trajectory of each joint is optimized.The shortest time trajectory optimization path of the robotic arm can be obtained.This design provides new ideas and methods for future research.
作者
申昊
许博皓
曹敏
Shen Hao;Xu Bohao;Cao Min(Changzhou Railway Higher Vocational Technical School,Changzhou,Jiangsu 213011,China;Guangdong Polytechnic of Science and Trade,Guangzhou 510430,China)
出处
《机电工程技术》
2024年第9期185-190,209,共7页
Mechanical & Electrical Engineering Technology
关键词
手套箱
四自由度机械臂
运动学
轨迹规划
glovebox
four degree of freedom robotic arm
kinematics
trajectory planning
