Considering The Engergy Consumption And Load Factors Of The Bionic Robot Trajectory Planning Methed Research

With the development of industrialization and intelligence in the world,robots play an important role in the fields of industrial production,medical service and so on.In the "industry 4.0" and "made in China 2025",driven by the robot's intelligence will be further development.As an important part of robot research,the trajectory planning of robot has become the focus in the research of domestic and foreign scholars.The trajectory planning is very important for robots to work effectively in its work space,trajectory planning method can improve obviously superior robot working efficiency,enhance the load capacity and save energy consumption.Firstly,to study the main topics for the robot trajectory planning method,it will focus on the research of the human upper limb with high similarity structure of robot and the establishment of the human upper limb arm model similar to.The human upper limb arm muscles and skeletal features involved in the barbell movement in the process are analyzed,the experimental data and the use of human motion capture system and upper limb EMG acquisition system to obtain,analysis of movement characteristics of human upper limb arm in the barbell in the process of obtaining motion information of human upper limb joints,get the feature points the motion information of human upper limb arm in the movement process,simplified model based on the constraint mechanism of upper limb movement range,equivalent to the rigid model analysis,kinematics and dynamics model of human upper limb arm established.Laying the foundation for the following research on humanoid trajectory planning.Secondly,Based on the analysis of the characteristics of the human upper limb arm,a three degree of freedom manipulator is developed.The kinematic analysis of is carried out by using the D-H method,and the dynamic equation is established by using the method of mechanical analysis.At the same time,the simulation and analysis of the working space of the manipulator is carried out,which lays the foundation for the subsequent research on the trajectory planning method of the manipulator.Then,through a brief introduction of the Cartesian space and joint space trajectory planning method,combined with the actual situation of the research,taking into account the energy consumption and load factors in the path planning process,selection of five polynomial interpolation method for trajectory planning of the robot.And the application of robotics toolbox of similar human upper limb barbell in the process of trajectory simulation,by comparing the human upper limb arm before and after adding the feature point information in the process of the barbell simulation results showed that after adding the robot has better energy distribution and utilization,load capacity has been significantly improved.Finally,the trajectory planning method is verified by the experimental prototype,and the simulation results are compared with the experimental results.