轻型抓取机器人的优化设计与路径规划

针对一种轻型抓取机器人,对其进行了构型优化设计和相关工作路径的研究.在各臂旋转到同一条直线上时,以对各个关节的转动惯量最小为优化目标,得出轻型抓取机器人各臂的最优臂长,并针对抓取时的稳定性进行了设计.运用三次多项式对机器人的点到点运动和有中间点的运动进行了轨迹规划,得到了各个关节的位移和角速度方程,并用实例进行了计算.利用Matlab Robotics工具箱对轨迹规划的结果进行了验证.

Optimize design and trajectory planning for light grasping robot

The paper does the research of optimize design and trajectory planning on light grasping robot.The optimization objective is to minimize the moment of inertia that the arm exerts on every joint when all of the arms rotate to a line.The optimal length of each arms of the grasping robot could be obtained.The grasping ability and grasping stability of the grasping robot are optimized.The trajectory planning has been done in the circumstances of movement of point-to-point and movement with middle point.The functions of angular velocity and angular acceleration could be achieved.The correctness of the trajectory planning has been validated with the Matlab Robotics Toolbox.