Research On Joint Configuration And Comprehensive Optimal Trajectory Planning Of Tandem Robotic Arm

With the improvement of science and technology,various industries are developing in the direction of intelligence and unmanned.In the traditional manufacturing field,the era of smart factories has also slowly come,and industrial robots are the cornerstone of smart factories.It is used to replace repetitive and dangerous manual operations,but with the expansion of the scope of application of robots,there are higher requirements for their use performance,so it is of great significance to conduct deeper research on robots.Firstly,the importance of research on the field of industrial robots is described,the development history of industrial robot configuration is described,and the current research status of robot trajectory planning is summarized.The main research contents of this paper are explained.Secondly,in order to solve the problem of reasonable allocation of joint combinations in the design process of the robotic arm,the target trajectory to be achieved by the robotic arm and the requirements for the end attitude should be considered in the design of the robotic arm.By dividing the changes of the trajectory and the end pose according to the three components of x-y-z,the corresponding joint combination mode is given.Use the D-H notation to establish the kinematics relationship of the robotic arm,use the Robotics Toolbox in MATLAB to find the forward and inverse solutions,give a working space,and check whether there is a reasonable inverse solution to determine the appropriate joint combination method.The change of the posture increases the corresponding joint types to complete the target task,and provides a reference for improving the rationality of the mechanical arm joint combination method.Thirdly,in order to improve the smoothness of the end operation of the industrial robot,the trajectory planning is performed by using cubic polynomial and high-order polynomial interpolation algorithms,respectively.Analyzing the characteristics of the two methods,a new interpolation method is proposed as a three-segment polynomial "414" interpolation algorithm,and the genetic algorithm is used to find the optimal two time nodes and.Simulation experiments with MATLAB proved that the "414" polynomial interpolation method can make the joint acceleration change more stable,solved the problem that the cubic polynomial and parabolic transition linear interpolation algorithm cannot constrain the acceleration,and reduced the maximum joint acceleration value after the fifth-degree polynomial interpolation.Make the robot run more smoothly and reduce the impact of the mechanism.Then use the robot dynamics principle to build a virtual prototype in ADAMS,and bring it into the ADAMS software according to the above trajectory planning results to verify whether the torque of each joint meets the factory delivery requirements of the robot.Finally,the NSGA2 multi-objective optimization algorithm is used to study the robot’s comprehensive optimal trajectory planning for time and acceleration.Given the robot’s motion parameters and constraints,the robot is analyzed for multi-objective optimization to obtain the optimal solution set and solution set.Pareto frontier distribution map.