基于改进灰狼算法的交叉滚子轴承自动装配机械臂轨迹规划  

Trajectory Planning of Crossed Roller Bearing Automatic Assembly Robotic Arms Based on the Improved Gray Wolf Optimizer

作　　者：胡江涛 党玉功 周志刚 张宇鹏 Hu Jiangtao;Dang Yugong;Zhou Zhigang;Zhang Yupeng(College of Vehicle and Traffic Engineering,Henan University of Science and Technology,Luoyang 471003,China;Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing,Henan Province,Luoyang 471003,China)

机构地区：[1]河南科技大学车辆与交通工程学院,河南洛阳471003 [2]机械装备先进制造河南省协同创新中心,河南洛阳471003

出　　处：《机械传动》2024年第11期71-78,共8页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(52105183)。

摘　　要：针对交叉滚子轴承人工装配存在的效率低、成本高和误差大等问题,设计一种4自由度机械臂,可对交叉滚子轴承进行自动装配。为提升机械臂的工作效率,以时间为适应度函数,提出了一种基于3-7-3多项式插值函数的改进灰狼算法(Improved Gray Wolf Optimizer,IGWO)对机械臂运动轨迹进行优化;该算法用非线性控制因子替代线性控制因子,并与天牛须搜索(Beetle Antennae Search,BAS)算法相结合,能够避免陷入局部最优,提高算法的求解效率和精度。仿真结果表明,与灰狼算法(Gray Wolf Optimizer,GWO)相比,改进灰狼算法运动时间缩短了17%,效率得到明显提升,且各个关节的轨迹曲线光滑连续。研究为机械臂的后续运动控制等奠定了基础。For crossed roller bearings,manual assembly has problems such as low efficiency,high cost and large error,a four-degree-of-freedom robotic arm was designed to automatically assemble cross roller bearings.In order to improve the efficiency of the robotic arm,an improved gray wolf optimizer(IGWO)based on 3-7-3 polynomial segmented interpolation was proposed to plan the time-optimal trajectory of the robotic arm.The linear control factor of the algorithm was replaced with a nonlinear control factor,and the algorithm was combined with the beetle antennae search(BAS)algorithm.It can avoid falling into the local optimization and improve the solution efficiency and accuracy of the algorithm.The simulation results show that,compared with the gray wolf optimizer(GWO),the movement time of the improved gray wolf optimizer is shortened by 17%,the efficiency is significantly improved,and the trajectory curves of each joint are smooth and continuous.The research results provide a basis for the subsequent motion control of the robotic arm.

关 键 词：交叉滚子轴承 机械臂 轨迹规划 改进灰狼算法(IGWO) 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP241[自动化与计算机技术—控制科学与工程] TH133.33[机械工程—机械制造及自动化] TG95[金属学及工艺—钳工工艺]