机械科学与技术2023，Vol.42Issue(12)：1986-1995,10.DOI:10.13433/j.cnki.1003-8728.20220158
柔索驱动拣矸机器人抓取轨迹规划研究
On Trajectory Planning for a Cable-driven Gangue Sorting Robot
摘要
Abstract
According to the process and characteristics of the gangue sorting,a grasping trajectory planning scheme for the cable-driven gangue sorting robot was proposed.The kinematic model of the cable-driven gangue sorting robot was firstly expounded,and the accuracy of the model was verified by simulation,which provided a basis forjudging whether the trajectory of the end grab conforms to the change rule of the cable length.According to the characteristics of synchronous movement of the gangues and belt conveyor,the position of the gangue bin and the workspace geometric center,the grasping trajectory of the end grab was then planned four sections,namely as start,preparation,gangue grab,and gangue disposal sections.According to the different motion characteristics of the above sections,the S-type velocity curve,quintic polynomial and the combination of both were used to plan the motion of the end grab.The planned trajectory scheme was finally simulated and analyzed.The results showed that the trajectory,velocity and acceleration of the end grab were continuous,the change of cable length was smooth and continuous,and the trajectory parameters determined by the above method could adapt to the different distribution of gangue on the belt conveyor.关键词
柔索驱动拣矸机器人/轨迹规划/S型速度曲线/五次多项式Key words
cable-driven gangue sorting robot/trajectory planning/s-shaped speed curve/fifth degree polynomial分类
信息技术与安全科学引用本文复制引用
乔心州,龚莉,刘鹏..柔索驱动拣矸机器人抓取轨迹规划研究[J].机械科学与技术,2023,42(12):1986-1995,10.基金项目
陕西省自然科学基础研究计划项目(2019JQ-796) （2019JQ-796）
