Research And Simulation On Trajectory Planning Of Port Crane Climbing Robot

The port crane has a complex structure and large size,and high-altitude operations such as surface inspection and rust removal are very dangerous.Robots can replace manual work,which can improve work efficiency and safety.The robot needs to ensure the balance of force at all times when climbing and moving on the wall and crossing obstacles.Especially when crossing obstacles,the sudden change of speed and acceleration will cause shock and vibration,which seriously affects the stability and safety of the robot.For this reason,this paper studies the trajectory planning of the robot with the smallest impact on the movement of the robot,so that the speed and acceleration of the robot during the movement process are relatively gentle,without sudden change,and the stability of its operation is ensured.The specific research contents are as follows:(1)Combined with kinematics theory,improved D-H parameters and coordinate transformation,the link coordinate system and model of the robot outrigger are established;through the forward and inverse solutions of the kinematic equations,the angle and Cartesian coordinates of the robot in joint space are completed The transformation between the pose matrices is established;the outrigger model is established by using the MATLAB robot toolbox,and the corresponding relationship between the joint angle value and the outrigger end effector is verified.(2)According to the pose of the robot in the process of obstacle crossing,the inverse kinematics of the robot is used to reversely solve the joint angles of the starting and ending points of the obstacle crossing trajectory;through the trajectory planning research in Cartesian space and joint space,the linear interpolation,The trajectory of circular interpolation,polynomial interpolation and B-spline curve interpolation and the motion characteristic curves of the four methods are compared.The simulation results of the four methods are compared.The trajectory of the B-spline curve interpolation method is more realistic and has local Support and convex hull improve the optimizeability of the trajectory.(3)Use the particle swarm algorithm to optimize the trajectory to obtain the target trajectory with the least impact.In view of the characteristics that the standard particle swarm algorithm is easy to fall into the local optimal solution,the selection,crossover and mutation operators of the inserted genetic algorithm are used.The inertia weight and learning factor are improved to dynamic parameters that change with the number of iterations,and the improved algorithm improves the global search ability and convergence speed.Using MATLAB to write a program to complete the simulation analysis,the results show that the trajectory optimized by the improved algorithm,compared with the initial algorithm optimized trajectory and the unoptimized B-spline interpolation trajectory,the impact volume is significantly reduced,and the motion stability of the robot is significantly improved.(4)Combine Solid Works and ADAMS software to create a simplified virtual prototype model of the robot outrigger,use the results before and after the trajectory optimization of the improved particle swarm algorithm as the driving data,add motion constraints,conduct simulation experiments on the virtual prototype,and compare and analyze the speed,acceleration and The experimental results of torque curve,kinematics and dynamics confirm the correctness and practicability of the optimization algorithm.