码垛绳驱并联机器人在线轨迹生成研究  

Research on Online Trajectory Generation of Palletizing Cable-Driven Parallel Robot

作　　者：张家琛 张尚盈 叶姣 沈红生 ZHANG Jiachen;ZHANG Shangying;YE Jiao;SHEN Hongsheng(School of Mechanical and Electrical Engineering,Wuhan Institute of Technology,Wuhan 430205;Wuhan Yuqiong Technology Co.,Ltd.,Wuhan 430205)

机构地区：[1]武汉工程大学机电工程学院,武汉430205 [2]武汉誉琼科技有限公司,武汉430205

出　　处：《现代制造技术与装备》2025年第3期202-209,共8页Modern Manufacturing Technology and Equipment

基　　金：武汉工程大学校科学研究基金(K2023111)。

摘　　要：采用在线轨迹生成算法解决绳驱并联机器人(Cable-Driven Parallel Robot,CDPR)在码垛过程中的轨迹规划问题。传统预设的轨迹规划难以满足面对不确定情况时及时响应的要求,影响了码垛效率和安全性。实时轨迹规划为机器人选择最优码垛路径,这对于CDPR高效应对未知环境和复杂任务至关重要。基于此,提出一套完整的单自由度实时轨迹规划算法,推导规划决策树,分析不同输入值对加速度剖面的影响,获得任意输入值的最优时间解。此外,为了验证码垛绳驱并联机器人在线轨迹生成的可行性,进行轨迹规划仿真和空间运动实验。结果表明,轨迹规划误差控制在1.5%以内,验证了在线轨迹规划对于码垛绳驱并联机器人是可行的。The trajectory planning problem of Cable-Driven Parallel Robot(CDPR)in palletizing process is solved by using online trajectory generation algorithm.The traditional preset trajectory planning is difficult to meet the requirements of timely response in the face of uncertainty,which affects the efficiency and safety of palletizing.Real-time trajectory planning selects the optimal palletizing path for the robot,which is essential for CDPR to effectively cope with unknown environments and complex tasks.Based on this,a complete set of single-degree-of-freedom real-time trajectory planning algorithm is proposed,the planning decision tree is derived,the influence of different input values on the acceleration profile is analyzed,and the optimal time solution of any input value is obtained.In addition,in order to verify the feasibility of the online trajectory generation of the palletizing cable-driven parallel robot,the trajectory planning simulation and space motion experiment are carried out.The results show that the trajectory planning error is controlled within 1.5%,which verifies that the online trajectory planning is feasible for the palletizing cable-driven parallel robot.

关 键 词：在线轨迹生成 绳驱并联机器人 码垛技术 决策树 最优时间解 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TP242.6[自动化与计算机技术—控制科学与工程]