电子器件2026，Vol.49Issue(1)：151-157,7.DOI:10.3969/j.issn.1005-9490.2026.01.022
基于改进鲸鱼算法的焊锡机械臂时间最优轨迹规划
Time-Optimal Trajectory Planning of Solder Manipulator Based on Improved Whale Algorithm
摘要
Abstract
Targeting at the problem of time-optimal trajectory planning of the robotic arm for repairing missing solder joints of three-degree-of-freedom PCB boards,a trajectory planning method based on the improved whale optimization algorithm is proposed.Firstly,the 3-5-3 polynomial is used to interpolate the trajectory of the manipulator to ensure the smoothness of the running trajectory of the ma-nipulator.Then,the algorithm is optimized for ordinary whales,and the population is homogenized by using Tent chaos mapping.Adap-tive weight parameters are introduced to adjust the search strategy.By introducing nonlinear convergence factors,the whale optimization algorithm is improved,which enhances its global search ability and accelerates the convergence speed.In addition,an adaptive probabil-ity threshold is introduced to prevent the algorithm from falling into the local optimal solution,and finally the improved whale algorithm is obtained,and the algorithm is used to plan the time-optimal trajectory of the robotic arm,and then compared with the PSO and initial WOA algorithms.Based on the experimental results,it is observed that the improved whale algorithm shows a significant improvement in convergence speed and accuracy.In addition,the improved whale algorithm is not prone to fall into local optimal solution,and the opti-mized joint kinematic curve is smooth and there is no mutation.关键词
PCB板漏焊点修复/改进鲸鱼优化算法(IWOA)/Tent混沌映射/非线性收敛因子/自适应概率阈值Key words
PCB board leakage solder joint repair/improved whale optimization algorithm(IWOA)/Tent chaos mapping/nonlinear con-vergence factor/adaptive probability threshold分类
信息技术与安全科学引用本文复制引用
李鹏,于涛,余珺泽..基于改进鲸鱼算法的焊锡机械臂时间最优轨迹规划[J].电子器件,2026,49(1):151-157,7.基金项目
国家自然科学基金资助项目(41075115) （41075115）
江苏省重点研发计划社会发展项目(BE2015692) （BE2015692）
无锡市社会发展科技示范工程项目(N20191008) （N20191008）
