考虑能耗与负载因素的机器人仿生轨迹规划方法研究  

Considering the Engergy Consunptionand Load Factorsof the Bionic Robot Trajectory Planning Methed Research

作　　者：杨冬[1] 李继强 董跃巍 沈永旺 YANG Dong;LI Ji-qiang;DONG Yue-wei;SHEN Yong-wang(Shool of Mechanical Engineering,Hebut University of Technology,Tianjin 300000,China)

机构地区：[1]河北工业大学机械工程学院

出　　处：《机械设计与制造》2020年第1期233-236,共4页Machinery Design & Manufacture

基　　金：“十二五”国家科技支撑计划项目“建筑板材机器人化施工装备与示范应用（2013BAF07B08）

摘　　要：提出一种基于仿生学理念的机器人运动轨迹规划方法。通过对人体上肢在举哑铃过程的分析以及对人体上肢进行运动学及动力学的模型建立,得到人体上肢的运动特征点信息。采用五次多项式插值法对轨迹进行规划研究并加入人体上肢手臂的运动特征点信息,最终确定考虑能耗及负载因素的仿生轨迹规划的基本方法。通过运动学、动力学分析及实验对比,确定最优轨迹。最后进行仿真和实验验证此仿人轨迹规划方法的正确性和优越性。A robot trajectory planning method based on bionics concept is proposed. By analyzing the dumbbell lifting process of human upper limb and the kinematics and dynamics model of human upper limb,the motion characteristic points information of human upper limb is obtained. The five polynomial interpolation method is used to study the trajectory planning,and the motion characteristic points information of human upper limb and arm is added. Finally,the basic method of bionic trajectory planning considering energy consumption and load factors is determined. Through kinematics,dynamics analysis and experimental comparison,the optimal trajectory is determined. Finally,simulations and experiments are carried out to verify the correctness and advantages of the human simulated trajectory planning method.

关 键 词：机器人 仿生原理 轨迹规划 能耗及负载因素 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]