液压凿岩机器人机械臂轨迹规划研究  

Research on trajectory planning of hydraulic rockdrilling robot manipulator

作　　者：郭锐[1,2] 石月[1,3] 李永涛 覃艳明 赵静一 GUO Rui;SHI Yue;LI Yongtao;QIN Yanming;ZHAO Jingyi(Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control,Yanshan University,Qinhuangdao 066004,Hebei,China;State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310027,Zhejiang,China;Key Laboratory of Advanced Forging and Stamping Technology and Science,Yanshan University,Qinhuangdao 066004,Hebei,China;Hebei Provincial Key Laboratory of Special Transport Equipment,Yanshan University,Qinhuangdao 066004,Hebei,China)

机构地区：[1]燕山大学河北省重型机械流体动力传输与控制重点实验室,河北秦皇岛066004 [2]浙江大学流体动力与机电系统国家重点实验室,浙江杭州310027 [3]燕山大学先进锻压成形技术与科学教育部重点实验室,河北秦皇岛066004 [4]燕山大学河北省特种运载装备重点实验室,河北秦皇岛066004

出　　处：《中国工程机械学报》2021年第4期289-294,共6页Chinese Journal of Construction Machinery

基　　金：国家重点研发计划资助项目(2019YFB2005204);国家自然科学基金资助项目(51675461);流体动力与机电系统国家重点实验室开放基金课题(GZKF-201922)。

摘　　要：针对液压凿岩机器人机械臂的轨迹规划问题,提出一种液压系统与机械臂轨迹优化相结合的全局功率匹配方法。构建机械臂运动学位姿模型,在关节坐标系内基于三次多项式、五次多项式和带抛物线过渡的线性插值函数等寻优算法进行机械臂轨迹规划。搭建机械臂液压系统运动轨迹跟踪仿真模型,获取仿真环境下多液压缸协同控制的运动规律,根据不同轨迹曲线结合液压系统的各部分变量进行参数合理匹配与控制策略优化,从而进行了液压凿岩机器人机械臂轨迹规划验证。研究结果表明:五次多项式的规划方法能精确跟踪期望的关节运动轨迹,同时满足平稳运动和低耗能的要求。Aiming at the problem of trajectory planning of hydraulic rock-drilling robot manipulator,a global power matching method combined with the hydraulic system and the trajectory optimization is proposed. A robot pose model is constructed,and the trajectory planning of the manipulator is performed in the joint coordinate system based on optimization algorithms such as cubic polynomial,fifth-order polynomial,and linear interpolation with parabolic transition. The simulation model of the trajectory tracking of the hydraulic system of the robotic arm is established to obtain the movement laws of the coordinated control of multiple hydraulic cylinders in the simulation environment.Different trajectory curves are combined with the parameters of the hydraulic system to reasonably match the parameters and optimize the control strategy. The results show that the quintic polynomial planning method can accurately track the ideal trajectory and meet the requirements of smooth motion and low energy consumption.

关 键 词：液压凿岩机器人 机械臂 运动学 轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]