柔索驱动拣矸机器人抓取轨迹规划研究

On Trajectory Planning for a Cable-driven Gangue Sorting Robot

依据矸石分拣过程和特点,提出一种柔索驱动拣矸机器人的抓取轨迹规划方案。建立柔索驱动拣矸机器人运动学模型,仿真分析验证了模型的正确性,为末端抓斗的运动轨迹是否符合索长变化规律提供判定依据。根据矸石与皮带运输机同步运动的特性、矸石仓位置及拣矸机器人工作空间几何中心受力最佳等条件,将末端抓斗的抓取轨迹规划为启动段、准备段、抓矸段和置矸段;并针对各段不同的运动特点,采用S型速度曲线和五次多项式组合的轨迹规化方法,对末端抓斗的四段运动进行规划。对规划的轨迹方案进行仿真,结果表明,末端抓斗的运动轨迹、速度和加速度连续,索长变化光滑连续,且轨迹参数能适应矸石在皮带运输机上的不同分布情况。

According to the process and characteristics of the gangue sorting,a grasping trajectory planning scheme for the cable-driven gangue sorting robot was proposed.The kinematic model of the cable-driven gangue sorting robot was firstly expounded,and the accuracy of the model was verified by simulation,which provided a basis for judging whether the trajectory of the end grab conforms to the change rule of the cable length.According to the characteristics of synchronous movement of the gangues and belt conveyor,the position of the gangue bin and the workspace geometric center,the grasping trajectory of the end grab was then planned four sections,namely as start,preparation,gangue grab,and gangue disposal sections.According to the different motion characteristics of the above sections,the S-type velocity curve,quintic polynomial and the combination of both were used to plan the motion of the end grab.The planned trajectory scheme was finally simulated and analyzed.The results showed that the trajectory,velocity and acceleration of the end grab were continuous,the change of cable length was smooth and continuous,and the trajectory parameters determined by the above method could adapt to the different distribution of gangue on the belt conveyor.