Research On Optimal Trajectory Planning Method Of Robot Energy Consumption Based On Bionics

At present,China's robot market into a high-speed growth period,industrial robots for five consecutive years to become the world's largest application market.However,there is an unreasonable use of energy in the industrial robot,which causes a lot of energy waste,and its energy consumption has risen to the national strategy.Aiming at the problems of large energy consumption,poor carrying capacity,not optimized trajectory and unreasonable layout in industrial robot production,this paper studies the optimal energy consumption trajectory planning method of industrial robot based on Bionics,aiming at improving the load capacity and energy saving level of robot.(1)This topic uses the motion capture system to obtain the human arm movement track which moves the object,as well as through the EMG signal acquisition system obtains the arm muscle Force Force information,the comprehensive analysis obtains the human arm to carry the object the movement characteristic.To restrain the motion range of human arm,the model of human arm is simplified,which seems to be studied by rigid body.It lays the foundation for the research of the following bionic trajectory planning method.(2)The model of humanoid three-DOF manipulator is established,and the kinematics and inverse kinematics are analyzed by d-h law,and the dynamic analysis is carried out by Lagrangian analysis and the effective working space of manipulator is established.Through statics,the relationship between the robot workspace and the work load is analyzed and the corresponding relationship between them is obtained.It lays a foundation for the research of trajectory planning method of the following manipulators.(3)Through the brief analysis of trajectory planning method,five times polynomial interpolation method is chosen to plan and simulate the trajectory,and the simulation results of adding feature point information and motion constraint are compared,and the latter planning method makes the robot energy consumption optimized and the load capacity is strengthened.(4)Experimental verification is carried out by the developed manipulator.Comparing the results of simulation and experimental data,the correctness and superiority of the robot motion control method based on Bionics are verified.