关节型机器人高承载轨迹规划方法  

High Load Track Planning Method for Joint Robot

作　　者：魏鑫 韩明 杨冬[1] WEI Xin;HAN Ming;YANG Dong(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China)

机构地区：[1]河北工业大学机械工程学院,天津300401

出　　处：《科学技术与工程》2023年第22期9550-9558,共9页Science Technology and Engineering

基　　金：国家自然科学基金(U1813222);国家重点研发计划(2018YFB1306900);河北工业大学学科交叉培养项目(HEBUT-Y-XKJC-2021102)。

摘　　要：针对机器人在工作过程中存在关节载荷较大等问题,以饰面作业机器人(Hebut-KB机器人)为研究对象,提出了一种面向大载荷施工作业环境下机器人驱动承载能力最优的轨迹规划方法。首先,对Hebut-KB机器人运动学及简化刚体动力学进行分析,使用多目标遗传算法(NSGA-II)求出在满足运动学与动力学约束条件下的多组优化解,然后建立起关节型机器人驱动承载能力的评价指标,最后通过驱动承载能力评价指标选取出潜在最优解。仿真和实验表明,使用驱动承载能力评价函数选取出的解可以达到综合最优效果,有效地提升了机器人的承载能力。Aiming at the problems of large joint load existing in the working process of the robot,a trajectory planning method for optimum driving capacity of the robot in heavy load construction environment was proposed,taking the finishing work robot(hereinafter referred to as Hebut-KB robot)as the research object.Firstly,kinematics and simplified rigid body dynamics of Hebut-KB robot were analyzed,and multi-group optimization solutions satisfying kinematics and dynamics constraints are obtained by using multi-objective genetic algorithm(NSGA-II).Then,an evaluation index of driving carrying capacity of articulated robot was established.Finally,potential optimal solution was selected by driving carrying capacity evaluation index.The simulations and experiments showed that the solutions selected using the driving load capacity evaluation function achieved the best overall performance and effectively enhanced the load-carrying capacity of the robot.

关 键 词：关节型机器人 驱动承载能力指标 多目标遗传算法 轨迹规划 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]