SCARA机械臂在金针菇搬运生产线中的应用研究

Application Research of SCARA Manipulator in Flammulina Velutipes Production Line

为改善金针菇工业化生产线上选择顺应性装配机器臂(selective compliance assembly robot arm,SCARA)的运动性能和工作效率,基于遗传算法对其进行轨迹优划。首先,机械臂工作路径分为3段,运用运动学分析求出各路径点处对应的关节变量。其次,在关节空间内使用3-5-3分段多项式插值函数对关节变量进行轨迹规划,使得加速度连续且无突变,解决仅使用三次函数规划机械臂的抖动问题。通过遗传算法对各段路径进行时间优化,得到最优的运行时间。最后进行仿真得到关节角度、角速度和角加速曲线,曲线表明:3-5-3分段多项式轨迹可以即保证运行平稳无冲击,且优化后整体运行时间减小39.8%,实现速度和时间的最优化,对机械臂控制具有指导意义。

In order to improve the movement performance and work efficiency of SCARA manipulator on a Flammulina velutipes production line,the trajectory optimization was carried out which based on genetic algorithm.Firstly,the working path of the manipulator was divided into three parts,and the corresponding joint variables of each path point were obtained by kinematic analysis.Secondly,the 3-5-3 piecewise polynomial interpolation function was used to plan the trajectory of the joint variables in the joint space,so that the acceleration was continuous and there was no mutation,which solved the problem of using cubic function to optimized the shaking of the manipulator.Finally,the joint angle,angular velocity and angular acceleration curve were obtained by simulation.The curve showed that the 3-5-3 piecewise polynomial trajectory could guarantee smooth operation without impact,and the overall operation time was reduced by 39.8%after optimization,and the optimization of speed and time was realized,which had the guiding significance for manipulator control.