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1、第34卷第4期計(jì)算機(jī)仿真2017年04月文章編號：l006—9348(2017)04—0362一06采摘機(jī)器人機(jī)械臂運(yùn)動軌跡規(guī)劃設(shè)計(jì)仿真滕舉元1，許洪斌2”，王毅1’3，張哲1(1．重慶理工大學(xué)機(jī)械工程學(xué)院，重慶400054；2．重慶理工大學(xué)汽車零部件先進(jìn)制造技術(shù)教育部重點(diǎn)實(shí)驗(yàn)室，重慶400054；3．重慶大學(xué)機(jī)械工程學(xué)院，重慶400044)摘要：為了實(shí)現(xiàn)六自由度采摘機(jī)械臂末端執(zhí)行器準(zhǔn)確平穩(wěn)地到達(dá)目標(biāo)采摘點(diǎn)，設(shè)計(jì)了基于SimMechancis的仿真系統(tǒng)，并進(jìn)行了擺線運(yùn)動軌跡規(guī)劃仿真。根據(jù)采摘機(jī)械臂的結(jié)構(gòu)特點(diǎn)，采用Denavit—HaItenberg(D—H)法進(jìn)行結(jié)構(gòu)參數(shù)建模，
2、得到了正運(yùn)動學(xué)模型。在逆運(yùn)動學(xué)求解過程中，采用矩陣逆乘法將復(fù)雜的矩陣等式轉(zhuǎn)化為容易求解8個(gè)代數(shù)等式，得到了逆運(yùn)動學(xué)的完整解析解，采用最小能量準(zhǔn)則求得了最優(yōu)逆解。為了保證機(jī)械臂在采摘過程中運(yùn)行平穩(wěn)，在關(guān)節(jié)空間內(nèi)進(jìn)行規(guī)劃軌跡并仿真。仿真結(jié)果表明，逆運(yùn)動學(xué)求解可靠，軌跡規(guī)劃方法使機(jī)械臂運(yùn)動平穩(wěn)且無沖擊現(xiàn)象，滿足采摘機(jī)械臂的實(shí)際采摘任務(wù)要求。關(guān)鍵詞：采摘機(jī)械臂；最小能量準(zhǔn)則；擺線運(yùn)動；軌跡規(guī)劃中圖分類號：TP242．6文獻(xiàn)標(biāo)識碼：BDesignandSimulationofMotionTrajectoryPlanllingforMallipulatorofPicl【ingRobotTE
3、NGJu—yuanl，XUHong—bin2?，WANGYil?，ZHANGZhel(1．CoUegeofMechanicalEngineering，ChongqingUniversityof’rechnology，Chongqing400054，China；2．KeyLaboratoryofAdvancedManufacturingTechnolog)rforautomobilePansofMiIIistryofEducation，ChongqingUniversityofTechnology，Chongqing400054，China；3．CollegeofMechanic
4、alEn萄neering，ChongqingUniversity，Chon鵲ing400044，China)ABSTRACT：Tbmakesixdegree—of—freedompickingmanipulatoraⅡiveatta娼etpickingpointaccuLatelyandsteadilycometme，asimulationsystembaLsedonSimMechanciswasdesignedandcycloidaltrajectoryplaJlllingsimu-lationwasc痂edout．Aforwardkinematicsmodelwascond
5、uctedbyapplyingDenavit—Hartenberg(D—H)methodtodescribeworkspaceconsideringthestructumlcharacteristicsofthemanipulator．Intheprocessofs01vinginversekinematics，thecompleteanal”icalsolutionwasacquiredwhencomplexmatrixwassimplifiedtoeighteasilysolVedequationswithinversematrixanalysis，andminimumen
6、ergycriterionwasemployedtoobtaintheoptimalsolution．Toensurepickingmanipulatoroperatingsteadily，cycloidalmotiontrajectoryplanningjointspacewassimulated．Thesimulationresultsshowthatthesolutionofinversekinematicsisreliable，theplanningmethodmakesthepickingma—nipulatormovementsmooth，withoutshockp
7、henomena，whichcanmeetitsactualrequirementstocompletepickingtask．KEYWoRDS：Pickingmallipulator；Millimumenergycritedon；Cycloidalmotion；T陽jectoryplanning基金項(xiàng)目：重慶市重點(diǎn)產(chǎn)業(yè)共性關(guān)鍵技術(shù)刨新專項(xiàng)項(xiàng)目(cstc2叭5shms一殖z柏100)；重慶市基礎(chǔ)科學(xué)與前沿技術(shù)研究一般項(xiàng)目(cstc2016jcyjA0444)收稿日期：2016一06一08修回
