调焦机上下料六轴机械臂轨迹优化  

Six-axis Manipulator Trajectory Optimization of Focusing Machine Loading and Unloading

作　　者：杨洪涛[1,2] 李天乐 穆莉莉 韩明[1] 王海超[1] YANG Hongtao;LI Tianle;MU Lili;HAN Ming;WANG Haichao(School of Mechanical and Electrical Engineering,Anhui University of Science and Technology,Huainan 232001,China;Key Laboratory of Mine Intelligent Equipment and Technology,Huainan 2320ol,China)

机构地区：[1]安徽理工大学机电工程学院,安徽淮南232001 [2]矿山智能装备与技术重点实验室,安徽准南232001

出　　处：《机械工程与自动化》2025年第2期24-27,共4页Mechanical Engineering & Automation

基　　金：安徽省科技重大专项(202203a05020036)。

摘　　要：以自动调焦机中的上下料机械臂系统为研究对象,针对机械臂工作过程中需满足轨迹光滑、生产节拍和降低能耗的要求,对其轨迹优化展开研究。首先,分析了自动调焦机上下料系统组成与技术要求;其次,构造了以4-5-4分段多项式为曲线模型的机械臂关节空间轨迹;最后,提出采用改进长鼻浣熊算法对机械臂进行能耗最优轨迹优化。仿真结果表明:由算法优化后得到的机械臂轨迹连续平滑且满足约束,能量消耗明显降低,满足自动调焦机上下料轨迹要求。This paper takes the loading and unloading manipulator system in the autofocusing machine as the research object.Aiming at the requirements of smooth trajectory,production tempo and energy consumption reduction during the operation of the manipulator,the trajectory optimization is studied.Firstly,the composition and technical requirements of the loading and unloading system of the autofocusing machine are analyzed.Secondly,the trajectory of the manipulator in the joint space is constructed with a 4-5-4 segmented polynomial as the curve model.Finally,an improved raccoon algorithm is proposed to optimize the energy-optimal trajectory of the manipulator.The simulation results show that the trajectory of the manipulator obtained after algorithm optimization is continuous and smooth,meets the constraints,and the energy consumption is significantly reduced,meeting the requirements of the loading and unloading trajectory of the autofocusing machine.

关 键 词：自动调焦机 上下料六轴机械臂 改进长鼻浣熊算法 能耗轨迹优化 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] TP241[自动化与计算机技术—计算机科学与技术]