采摘机器人机械臂运动轨迹规划设计仿真  

Design and Simulation of Motion Trajectory Planning for Manipulator of Picking Robot

作　　者：滕举元 许洪斌[2,3] 王毅[1,3] 张哲[1] TENG Ju -yuan XU Hong -bin WANG Yi ZHANG Zhe(College of Mechanical Engineering, Chongqing University of Technology, Chongqing 400054, China Key Laboratory of Advanced Manufacturing Technology for automobile Parts of Ministry of Education, Chongqing University of Technology, Chongqing 400054, China College of Mechanical Engineering, Chongqing University, Chongqing 400044, China)

机构地区：[1]重庆理工大学机械工程学院,重庆400054 [2]重庆理工大学汽车零部件先进制造技术教育部重点实验室,重庆400054 [3]重庆大学机械工程学院,重庆400044

出　　处：《计算机仿真》2017年第4期362-367,共6页Computer Simulation

基　　金：重庆市重点产业共性关键技术创新专项项目(cstc2015shms-ztzx0100);重庆市基础科学与前沿技术研究一般项目(cstc2016jcyjA0444)

摘　　要：为了实现六自由度采摘机械臂末端执行器准确平稳地到达目标采摘点,设计了基于SimMechancis的仿真系统,并进行了摆线运动轨迹规划仿真。根据采摘机械臂的结构特点,采用Denavit-Hartenberg(D-H)法进行结构参数建模,得到了正运动学模型。在逆运动学求解过程中,采用矩阵逆乘法将复杂的矩阵等式转化为容易求解8个代数等式,得到了逆运动学的完整解析解,采用最小能量准则求得了最优逆解。为了保证机械臂在采摘过程中运行平稳,在关节空间内进行规划轨迹并仿真。仿真结果表明,逆运动学求解可靠,轨迹规划方法使机械臂运动平稳且无冲击现象,满足采摘机械臂的实际采摘任务要求。To make six degree - of - freedom picking manipulator arrive at target picking point accurately and steadily come true, a simulation system based on SimMechancis was designed and cycloidal trajectory planning simulation was carried out. A forward kinematics model was conducted by applying Denavit -Hartenberg（ D -H） method to describe workspace considering the structural characteristics of the manipulator. In the process of solving inverse kinematics, the complete analytical solution was acquired when complex matrix was simplified to eight easily solved equations with inverse matrix analysis, and minimum energy criterion was employed to obtain the optimal solution. To ensure picking manipulator operating steadily, cycloidal motion trajectory planning joint space was simulated. The simulation results show that the solution of inverse kinematics is reliable, the planning method makes the picking manipulator movement smooth, without shock phenomena, which can meet its actual requirements to complete picking task.

关 键 词：采摘机械臂 最小能量准则 摆线运动 轨迹规划 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]