混凝土泵车臂架变自由度串联多目标路径规划算法研究  

Research on serial multi-objective path planning algorithm with variable degree of freedom for the concrete pump truck boom

作　　者：皮皓杰 刘延斌 于晓颖 朱昱鑫 何雨暘 PI Haojie;LIU Yanbin;YU Xiaoying;ZHU Yuxin;HE Yuyang(Zoomlion Heavy Industry Science and Technology Co.,Ltd.,Changsha 410205,Hunan,China)

机构地区：[1]中联重科股份有限公司,湖南长沙410205

出　　处：《中国工程机械学报》2025年第1期77-82,共6页Chinese Journal of Construction Machinery

摘　　要：本文以混凝土泵车电液多关节臂架为研究对象,针对降低液压流量和提高臂架姿态灵活度的需求,首先基于关节权值排序法确定臂架联动关节,其次基于梯度投影法将臂架末节臂姿态、反关节角度和关节可运动范围作为逆运动学算法的优化目标,提出了一种变自由度串行多目标逆运动学优化算法,并使用流量条件数(FC)作为衡量此优化算法应用效果的评价指标。结果表明:该优化算法降低FC约14.4%,可以达到设计目标的要求且具有较好的应用价值。This paper takes the electro-hydraulic multi-joint boom of a concrete pump truck as the object.In order to reduce hydraulic flow and improve the flexibility of the arm,the arm frame linkage joint of the arm movable based on joint weight ranking method is first determined.Secondly,based on the gradient projection method,the optimization objectives of the inverse kinematics algorithm for posture of the end segment,angle of the reverse joint,joint motion range are proposed,and a serial multi-objective path planning algorithm with variable degree of freedom is proposed,using the flow condition number(FC)as an evaluation indicator to measure the application effectiveness of this optimization algorithm.The results show that the optimization algorithm reduces the FC by 14.4%,which can meet the design objectives and has good application value.

关 键 词：混凝土泵车 智能臂架 逆运动学 多目标优化 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]