一种新型停车机器人搬运机构运动设计与优化研究

Research on the motion design and optimization of the new parking robot’s handling mechanism

为了解决停车难的问题,自动停车机器人被用于停车库以提高停车效率。文中提出一种停车机器人搬运机构方案,一种用于搬起汽车的6自由度搬运机构。建立了搬运机构运动的关键点求解模型,以节省时间为目标设计搬运策略,考虑末端位置、运动中速度、加速度等多种约束,优化机构运动并求解关键点。为了减小机械冲击与磨损,基于关键点和时变NURBS进行搬运机构运动建模,生成加速度连续的轨迹,保障搬车动作的平稳快速完成。最终对搬车场景进行案例分析,与各种方案进行了比较,验证其有效性与优势。

In order to overcome the difficulty in parking,automatic parking robot is adopted in the parking garage,for a higher standard of parking efficiency. In this article,a new handling mechanism of parking robot is developed. The key-point solution model of the six-degree-of-freedom mechanism is set up,and the handling strategy is worked out to save time. Such constraints as terminal position,velocity and acceleration are adopted to optimize the motion of the mechanism and solve the key points. With a view to the reduction in mechanical impact and wear,the motion of the handling mechanism is modeled based on the key points and the time-varying NURBS,so as to generate the continuous trajectory of acceleration and ensure that all the handling tasks are completed smoothly and rapidly. Finally,the comparative analysis is conducted on the handling scenario,which verifies that this method is effective and advantageous.