破碎机自主作业轨迹规划研究

Research on Autonomous Operation Trajectory Planning of Crushers

对破碎机工作装置工作过程中的运动轨迹进行规划,结合机器人机械臂的研究理论,基于改进型D-H法建立了破碎机工作装置模型;建立工作装置运动学模型,对其进行正向运动学分析,并通过运动学逆解得到回转平台、动臂、斗杆在空间中不同位置下的关节角度;在关节空间内分别使用5次多项式曲线、7次多项式曲线与9次多项式曲线规划了工作装置的运动轨迹。在Matlab平台内通过Robotics Toolbox搭建工作装置D-H参数模型并对3种方法进行仿真,获得了关节回转的角度、角速度和角加速度变化曲线并进行对比分析,发现7次多项式规划的角加速度曲线平滑连续、没有突变且波动较小,能够保证工作装置运动的连续性与平稳性。

The motion trajectory of the crusher working device during the working process was planned,and combined with the research theory of robot robotic arms,a crusher working device model based on the improved D-H method was established.A kinematic model was established,the forward kinematic analysis on the model was performed,and the joint angles of the rotary platform,boom,and bucket at different positions in space were obtained through inverse kinematic solutions.The motion trajectory of the working device was planned by using a fifth degree polynomial curve,a seventh degree polynomial curve,and a ninth degree polynomial curve in the joint space.On the Matlab platform,a D-H parameter model of the working device was built using the Robotics Toolbox and three methods were simulated to obtain the angle,angular velocity,and angular acceleration variation curves of the joint rotation.Comparative analysis shows that the seventh degree polynomial programming angular acceleration curve is smooth,continuous,without abrupt changes and small fluctuations,which can ensure the continuity and smoothness of the working device movement.