A Time Optimal Trajectory Planning of the Metamorphic Industrial Robot

被引：3
|
作者：
Wang R. [1 ]
Dong Y. [1 ]
Chen H. [1 ,2 ]
机构：
[1] College of Mechanical Engineering, Guangxi University, Nanning
[2] College of Mechanical and Control Engineering, Guilin University of Technology, Guilin
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2023年 / 59卷 / 05期
关键词：
industrial robot; metamorphic mechanisms; nested PSO algorithm; time optimization; trajectory planning;
D O I：
10.3901/JME.2023.05.100
中图分类号：
学科分类号：
摘要：
According to the working principle of the metamorphic industrial robot, its working trajectory model is established. And based on this model, a time optimization trajectory planning method of the metamorphic industrial robot is proposed. This method focuses on the transformation process of robot configuration and transforms the trajectory planning problem into an internal and external nested optimization problem for analysis. The design variables, objective function and constraints of the optimization problem are presented respectively, and the mathematical model of the time optimization trajectory planning problem of the metamorphic industrial robot is obtained. The proposed method is used to study the trajectory planning of the metamorphic palletizing robot developed by our research group. According to its working trajectory model, the mathematical model of the optimization design problem is established. After presenting the calculation method for coefficients of the joint angle interpolation functions, the optimization problem is solved by nested PSO algorithm, and the optimized joint angle functions and theoretical working trajectory are calculated. Compared with the actual working track gained by the experiment, the feasibility of the proposed method is verified. This work provides a reference for the research of motion planning of metamorphic robots. © 2023 Editorial Office of Chinese Journal of Mechanical Engineering. All rights reserved.
引用
收藏
页码：100 / 111
页数：11
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