基于六自由度机械臂的带电作业机械手模型设计研究  

Research on model design of live working manipulator based on six degrees of freedom manipulator

作　　者：覃洪汉[1] 黄立仁[1] 郭志宏 苏振东[1] 韦晖强 韦文[1] Qin Honghan;Huang Liren;Guo Zhihong;Su Zhendong;Wei Huiqiang;Wei Wen(Nanning Cigarette Factory,China Tobacco Guangxi Industrial Co.,Ltd.,Guangxi Nanning,530001,China)

机构地区：[1]广西中烟工业有限责任公司南宁卷烟厂,广西南宁530001

出　　处：《机械设计与制造工程》2024年第9期67-72,共6页Machine Design and Manufacturing Engineering

摘　　要：为满足高危环境下带电机器人的作业需求,避免机械臂在运动过程中出现抖动、失控等不良现象,提出基于六自由度机械臂的带电作业机械手模型。首先基于机械臂关节参数构建动力学模型,然后引入混合多项式插值法和粒子群算法对机械臂轨迹规划问题进行分析。实验结果表明,在粒子群优化算法下,机械臂4个关节的运行总时间分别为3.48、3.57、4.58和3.84 s,总运行时间最少缩短了10 s。在约束条件下,机械臂各关节始终处于安全范围内,不存在关节力矩大幅振荡情况。实验结果证实该带电作业机械手模型具有较好的应用效果。To meet the operational needs of live robots in high-risk environments and avoid adverse phenomena such as shaking and loss of control during the movement of the robotic arm,a live working robotic arm model based on a six degree of freedom robotic arm is proposed.Firstly,a dynamic model is constructed based on the joint parameters of the robotic arm,and then a mixed polynomial interpolation method and particle swarm optimization algorithm are introduced to analyze the trajectory planning problem of the robotic arm.The experimental results show that under the particle swarm optimization algorithm,the total running time of the four joints of the robotic arm is 3.48,3.57,4.58,and 3.84 s respectively,and the total running time is shortened by at least 10 s longer than before optimization.Under the constraint conditions,each joint of the robotic arm is always within the safe range,and there is no significant oscillation of joint torque.The experimental results confirm that the live working robot model has good application effects.

关 键 词：六自由度机械臂 带电作业机械手 混合多项式插值法 粒子群算法 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]