摘要
为了实现管棒材拆捆过程的自动化,搭建了一种拆捆机器人系统,根据作业要求设计出一种用于拆捆的末端执行器,实现了绑丝的自动抽取和剪切。采用三次样条插值函数,构造机器人各关节运动轨迹曲线,实现关节位移、速度、加速度和加加速度的连续性,确保绑丝抽取过程的平滑稳定。在满足机器人各关节最大约束的前提下,提出一种改进的DE-PSO混合算法对时间最优值进行求解,通过与单一算法进行比较,该算法寻优精度有较大改进,特别是在高维度下效果更加突出。最后,根据算法所得结果,在MATLAB下仿真得到各关节运动变化曲线图,仿真结果表明了算法的稳定性和准确性。
In order to realize the automation of the pipe bar unpacting process,a bundling robot system is built,and an end-executor for undying is designed according to the requirements of the operation,and the automatic extraction and shearing of the wire is realized.Using three spicle interpolation functions,the motion trajectory curve of each joint of the robot is constructed to achieve the continuity of joint displacement,velocity,acceleration and acceleration,and to ensure the smooth and stable extraction process of the tie.Under the premise of meeting the maximum constraints of each joint of the robot,an improved DE-PSO hybrid algorithm is proposed to solve the optimal value of time.Finally,according to the results obtained by the algorithm,the motion change graph of each joint is obtained under Matlab simulation,and the simulation results show the stability and accuracy of the algorithm.
作者
仝浩源
马立东
孟志娟
梁苏苏
TONG Hao-yuan;MA Li-dong;MENG Zhi-juan;LIANG Su-su(School of Mechatronics Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China)
出处
《组合机床与自动化加工技术》
北大核心
2021年第7期40-43,48,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家重点研发计划(2018YFB1308700)
山西省关键核心技术和共性技术研发攻关专项(2020XXX009)
山西省应用基础研究计划(20191D111244、20191D211311)
山西省科技重大专项(20181102016)。
