森林工程2026，Vol.42Issue(2)：327-339,13.DOI:10.7525/j.issn.1006-8023.2026.02.009
双梁堆垛机械手协同动作优先度的模糊量化与运动规划
Fuzzy Quantification of Priority of Cooperative Actions and Motion Planning for Double-Beam Stacking Manipulators
摘要
Abstract
To enhancethe efficiency of classification,stacking and packaging of customized door and window materials,the mechanism trajectory and motion characteristics of double-beam stacker are designed and analyzed.Aiming at the dy-namic interference problem of motion trajectory generated by the double-beam stacker during the stacking process,this paper proposes a discriminant analysis method based on the optimal feasibility of relative positions.On this basis,differ-ent motion strategies are formulated for different motion characteristics,and a collaborative planning model of the double-beam stacker is constructed.The trajectory motion characteristics are analyzed through standardized kinematic modeling to complete the optimization of the feasibility planning model.A kinematic model is established by combining ADAMS with Matlab Simulink,and the simulation verification of the manipulator's planning model is carried out.Numerical analysis and verification of the solution set of the motion model using the system simulation technology of ADAMS and Simulink show that the displacement trajectories of the two manipulators along the x-axis have no overlapping regions,which effectively avoids the risk of interference and collision.The velocity curve is continuous without abrupt changes,and the acceleration is concentrated in the range of 2-4 m/s2,which confirms the effectiveness of the established motion model.The dual-manipulator motion planning model established in this study can effectively enhance the efficiency of the classification and stacking process of door and window materials,and has high reliability.The model is of great sig-nificance for promoting the intelligent classification,stacking and packaging of customized door and window materials.关键词
双梁堆垛机/动态干涉/运动轨迹/运动特性/运动规划/速度控制曲线/机械手/可行度Key words
Double-beam stacker/dynamic interference/movement trajectory/motion characteristics/motion plan-ning/speed control curve/manipulator/feasibility分类
农业科技引用本文复制引用
任长清,张栋,丁星尘,丁禹程,杨春梅,许启灏..双梁堆垛机械手协同动作优先度的模糊量化与运动规划[J].森林工程,2026,42(2):327-339,13.基金项目
黑龙江省重大科技成果转化项目(CG23013) （CG23013）
黑龙江省"双一流"学科协同创新成果项目(LJGxCG2024-F16). （LJGxCG2024-F16）
