双机械臂协作装配轨迹规划方法研究  

Research on Dual Arms Collaborative Assembly Trajectory Planning Method

作　　者：万琴 庞鹏飞 李智 宁顺兴 WAN Qin;PANG Pengfei;LI Zhi;NING Shunxing(School of Electrical and Information Engineering,Hunan Institute of Engineering,Xiangtan 411100,China)

机构地区：[1]湖南工程学院电气与信息工程学院,湘潭411100

出　　处：《自动化与仪表》2025年第3期59-65,共7页Automation & Instrumentation

基　　金：国家自然科学基金青年项目(62476084,62006075);湖南省重点研发计划项目(2021GK2024);湖南省杰出青年科学基金项目(2021JJ10002);湖南省自然科学基金项目(2022JJ30198);湖南省教育厅项目(21A0460)。

摘　　要：针对人工示教机械臂装配过程中确定装配位置局限性和位置随机性的问题,以中科深谷协作机器人为研究对象,协作装配为应用背景。采用改进的DH(denavit hartenberg)参数法建立双机械臂仿真模型并进行正逆运动学分析。其次分析了双臂协作过程中存在的可操作性运动约束,采用蒙特卡洛法绘制出协作空间点云图。针对其需满足时间短、能耗低、运动平滑的要求,提出在关节空间轨迹规划采用七次B样条插值法,利用NSGA-Ⅱ算法求解最优装配位置,并以时间、能耗、冲击为目标进行轨迹优化。结果表明,将灵活性指标运用到轨迹规划中,能提高机械臂作业效率,降低能耗与冲击损耗,有效实现机械臂协作装配的最优轨迹规划。In addressing the challenges associated with assembly position limitations and position randomness during the assembly process of manually taught robotic arms,this study uses the zKsV collaborative robot as the research subject,with cooperative assembly as the application context.,The modified denavit-hartenberg(DH)parameter method is employed to construct a simulation model for dual robotic arms and perform both forward and inverse kinematics analyses,Subsequently,the operational motion constraints within the two-arm collaborative process are examined,and a collaboration space point cloud map is generated using the Monte Carlo method.To meet the requirements of short execution time,low energy consumption,and smooth motion,a seven-degree B-spline interpolation method is proposed for joint-space trajectory planning.The NSGA-II is employed to determine the optimal assembly position,and trajecto-ry optimization is performed with time,energy consumption,and impact as the optimization objectives.The results demonstrate that integrating the flexibility index into trajectory planning improves the operational efficiency of the robotic arms,reduces energy consumption and impact losses,and effectively achieves optimal trajectory planning for cooperative robotic arm assembly.

关 键 词：轨迹规划 协作装配 可操作度 轨迹优化 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]