基于时间-冲击最优的机械臂喷涂轨迹优化  

Spray Trajectory Optimization of Robot Arm Based on Time-Jerk Optimization

作　　者：周程胜 熊瑞平[1] 胡英达 李静[1] 巫启源 ZHOU Chengsheng;XIONG Ruiping;HU Yingda;LI Jing;WU Qiyuan(School of Mechanical Engineering,Sichuan University,Chengdu 610065,China)

机构地区：[1]四川大学机械工程学院,成都610065

出　　处：《组合机床与自动化加工技术》2024年第1期63-66,71,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：四川省重点研发项目(2020YFG0119);四川省智能制造与机器人重大专项项目(2019ZDZX0019);宜宾-川大市校战略合作科技创新项目(2020CBYB-11)。

摘　　要：针对机械臂喷涂作业时因冲击过大造成关节振动影响喷涂质量问题,提出了一种机械臂的最优喷涂轨迹规划方法。采用5次非均匀B样条函数构建机械臂运动轨迹,以串联机械臂运行时间和脉动冲击为目标函数建立数学模型,通过改进多目标灰狼算法进行优化设计并获得Pareto最优解集并运用归一化权重目标函数获取期望解。选择KUKA KR_16型串联机械臂作为仿真对象,针对曲面工件进行喷涂仿真实验。结果表明,5次B样条插值曲线可以有效构建高阶平滑的喷涂轨迹,改进的多目标灰狼算法能够实现满足约束条件的多目标优化,且优化效果优于NSGA-Ⅱ算法,为后续喷涂轨迹研究提供了新思路。Aiming at the problem of joint vibration affecting spraying quality caused by excessive impact,an optimal spraying trajectory planning method was proposed for the manipulator.The kinematic trajectory of the manipulator was constructed by using the 5-order non-uniform B-spline function,and the mathematical model was established by taking the running time and pulsating impact of the series manipulator as the objective function.The optimal solution set was obtained by improving the multi-objective grey Wolf algorithm and the expected solution was obtained by using the normalized weight objective function.KUKA KR_16 series manipulator was selected as the simulation object to carry out spraying simulation analysis on curved workpiece.The results show that the 5-order B-spline interpolation curve can effectively construct the high-order smooth spraying trajectory,and the improved multi-objective gray Wolf algorithm can achieve the multi-objective optimization satisfying the constraints,and the optimization effect is better than the NSGA-Ⅱalgorithm.It provides a new idea for the follow-up study of spraying trajectory.

关 键 词：喷涂轨迹规划 多目标优化 灰狼算法 B样条函数 工业机器人 

分 类 号：TH112[机械工程—机械设计及理论] TG659[金属学及工艺—金属切削加工及机床]