锻压技术

基于时间最短的冲压机器人轨迹规划

英文标题：Trajectory planning of stamping robot with the minimal time

作者：沈东东陈燚涛杨晓梅

单位：武汉纺织大学

分类号：TP242.2

出版年,卷(期):页码：2017,42(5):66-73

摘要：

针对一种4自由度串联冲压机器人的自动上下料过程，在机器人的初始位姿与目标位姿已知，而运动时间和路径不确定的前提下，以最大限度提高机器人工作效率为目标，以工程实际中关节驱动力、驱动速度和工艺过程为约束条件，进行了单工作周期时间最短优化研究。首先采用D-H参数法建立机器人的连杆坐标系，列出关节变换矩阵和运动学方程，通过微分变换法求出机器人的雅克比矩阵，采用牛顿-欧拉法得出各关节力矩的表达式；然后以时间为参数，运用5次多项式拟合关节位移变化轨迹；最后采用二分法求解满足各关节速度约束和力（矩）约束的最优运动时间，从而生成各关节运动轨迹，并且进行了对比实验。结果表明，该轨迹规划方法能有效地缩短冲压机器人的工作周期。

For the automatic loading and unloading process of a 4-DOF series stamping robot, with the known initial position and target position of the robot but the uncertain movement time and path, taking the joint driving force, the driving velocity and the process in the engineering practice as the constraint conditions, the shortest optimization period of a single working cycle was carried out to maximize the improvement of the robot work efficiency. Firstly, the link-pole coordinate system of the robot was established by the D-H method, and the transformation matrix of joints and the kinematics equations were listed. Therefore, the Jacobi matrix of the robot was obtained by the differential transformation method, and the expressions of the joint moment were obtained by the Newton-Euler method. Secondly, the displacement trajectory of joint was fitted with quintic polynomial, while the motion time was parameterized. Finally, the optimal motion time of the robot was calculated to satisfy the velocity and force (moment) limitation of the joint by the bisection method. Thus, a new corresponding trajectory was generated, and a contrast experiment was carried out. The results show that it can effectively shorten the work period of stamping robot by this trajectory planning method.

基金项目：

国家自然科学基金资助项目（51505344）

沈东东（1990-），男，硕士研究生陈燚涛（1972-），男，博士，副教授

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