食品拾放的3-PUU并联机器人轨迹规划

Trajectory Planning of 3-PUU Parallel Robot Based on Food Pickup

为使机器人能够高速精确地完成作业任务,需要对机器人的运动轨迹进行轨迹规划。主要针对三自由并联机器人在食品拾放作业中运动不平稳的问题,提出采用回旋线和圆弧线组合的方式,作为机器人运动轨迹中2段直线之间的过渡曲线,以修正梯形加速度运动规律为前提,以运动时间最优为目标,采用蚁群算法得到优化后的运动轨迹参数。运用ADAMS和MATLAB联合仿真的方式,验证优化后运动轨迹能够提高机器人的运动平稳性,减小末端执行器运动时的抖动,为机器人的运动控制研究提供理论方法及依据。

In order to enable the robot to complete the task with high speed and precision, the trajectory of the robot needed to be planned. Aiming at the problem of unsteady motion of three free parallel robots in food picking and unloading operation, the combination of cyclotron and arc lines as the transition curve between two segments of straight lines in the robot’s motion trajectory was proposed. On the premise of correcting the law of trapezoidal acceleration and aiming at the optimal motion time, ant colony algorithm was used to obtain the optimized motion trajectory parameters. The method of ADAMS and MATLAB co-simulation was used to verify that the optimized motion trajectory could improve the motion stability of the robot and reduce the jitter of the end-effector motion, which provided the theoretical method and basis for the research of the robot motion control.