用于装箱生产线的机器人运动轨迹规划

Robot Trajectory Planning for Packing Production Line

在保证稳定性不变的情况下,对自动装箱生产线上并联机器人的作业效率进行优化;建立6个关键点,用于研究轨迹空间规划效率问题;基于Delta3并联机器人,提出以执行时间最优为目标的轨迹规划方法。通过粒子群算法进行优化,得到最优时间,并结合实验进行验证。实验结果表明:优化后一个运动周期需要的时间减少了0.104 s,曲线效率更高;随着时间的增加,冲击程度呈非线性减小;优化后的方法能够有效提高装箱效率。该方法可以用于其他机器人的轨迹规划研究,为其提供理论参考依据。

The operation efficiency of the parallel robot on the automatic packing line was optimized under the condition that the stability was not changed.Six key points were established to study the efficiency of the trajectory space planning;the trajectory planning method with the execution time optimization was proposed based on the Delta3 parallel robot.The optimal time was obtained by particle swarm optimization,and it was verified by experiments.The experimental results show that the time needed for the optimized one motion cycle is reduced by 0.104 s,and the curve efficiency is higher;with the increase of time,the impact degree decreases nonlinearly;the packing efficiency can be improved effectively by using the optimized method.This method can provide theoretical reference for other robots trajectory planning research to.