酒醅抓取机械臂轨迹规划研究

Research on Trajectory Planning of Fermented Grains Grasping Mechanical Arms

酒醅出料工作是酿酒业生产环节中的必要工序,利用机械臂实现其自动化工作的难点包括工作空间狭长、酒醅形态松散易洒落。工作空间狭长,抓取末端需要进行多次抓取;易洒落,需要保证抓取末端的密闭性和抓取后运动过程中抓取末端姿态的可控性等。针对出料工作需要多次抓取的问题,提出了一种关节划分策略。依据关节重要性,划分关节类型并选择合适次数的轨迹规划算法;在满足机械臂运行性能的前提下,降低了每次抓取规划的计算难度。针对抓取末端的密闭性要求,设计了一种可以保证底部密闭的抓取末端。针对运行过程中对姿态可控性的要求,建立姿态调整模型,提高了机械臂基于关节空间下运动规划时末端姿态的可控性。

The discharging work of fermented grains is a necessary process in the production of wine,the difficulties in automating the work with mechanical arms include the long and narrow working space and the loose form of fermented wine which tends to fall. The working space is long and narrow,and the end of the grab needs to be grabbed multiple times. Being easy to spill,it is necessary to ensure the tightness of the grasping end and the controllability of the posture of the grasping end during the movement after grasping,etc. Aiming at the problem that multiple grabbing is required for the discharging work,a joint division strategy is proposed. According to the importance of the joints,the joint types are divided and the appropriate number of trajectory planning algorithms is selected. On the premise of satisfying the operating performance of the manipulator,the computational difficulty of each grasping planning is reduced. For the tightness requirements of the grab end,a grasping end is designed to ensure that the bottom is closed. Aiming at the requirement of attitude controllability during operation,an attitude adjustment model is established and the controllability of the end posture of the manipulator in joint space based motion planning is improved.