垃圾分拣机械手的设计及性能仿真研究

Design of garbage sorting manipulator and simulation research of its performance

以往采用六自由度机械手进行垃圾分拣时,由于其自身重量较大,耗能偏高,导致机械手工作时移动速度较慢,分拣效率较低。因此,文中设计新的垃圾分拣机械手,其硬件由垃圾机械手手部结构与末端执行器组成。软件部分设计垃圾机械手智能控制流程,在垃圾分拣路径规划中优化目标垃圾函数,并设计基于遗传算法的最优分拣路径策略,获取准确的垃圾分拣目标和分拣最优路径。实验结果表明,所设计的垃圾分拣机械手可有效分拣垃圾,分拣准确度高达99%,机械手的系统稳定性为0.40,具有分拣准确度高以及稳定性好等优势。

The past six-degree-of-freedom manipulator used for garbage sorting is heavy in weight and has high energy consumption,resulting in slow moving speed and sorting efficiency during manipulator operation. Therefore,a new garbage sorting manipulator is designed in this paper. The hardware of the manipulator is composed of the garbage manipulator hand structure and end-effector. In the software part,the intelligent control flow is designed for the garbage manipulator. The objective garbage function is optimized during the garbage sorting path planning. The optimal sorting path strategy based on the genetic algorithm is designed to obtain the accurate garbage sorting target and optimal sorting path. The experimental results show that the designed garbage sorting manipulator can effectively sort garbage,and has the advantages of high sorting accuracy of 99% and good system stability of 0.40.