Research On Trajectory Planning Of Street Lamp Cleaning Manipulator And Contact Pressure Control System Of Disc Brush

Street lamps in use for a period of time,due to dust and automobile exhaust pollution,will reduce the lighting brightness,affect the safety of driving,so the street lamp needs to be cleaned regularly.At present,most street lamps are manually cleaned by cleaning personnel.This method has low cleaning efficiency,high requirements on the experience of cleaning personnel,high operation intensity and certain security risks.Therefore,it is urgent to develop an automatic street lamp cleaning device.In this paper,two key technologies in the automatic street lamp cleaning device are mainly studied:trajectory planning of the cleaning robot arm in the cleaning process and the contact pressure control system between disk brush and lampshade.The main research contents are as follows:(1)By analyzing the structure and installation characteristics of highway street lamp and tunnel street lamp,the configuration of cleaning robot arm is selected,and the mechanical structure of cleaning robot arm in street lamp cleaning device is designed,that is,the 4-DOF robot arm is used to clean highway street lamp and tunnel street lamp,and the parameter calculation and model selection of the motor and reducer of each joint driving device of the cleaning robot arm are completed.(2)According to the structural characteristics of the cleaning manipulator,the kinematics of the cleaning manipulator was modeled by the standard D-H method,and the forward and inverse equations of the kinematics of the cleaning manipulator were established.Standard D-H method is used to establish the simulation model of the cleaning manipulator,and verify the correctness of the forward and inverse solutions.Finally,Monte Carlo method is used to simulate and analyze the 3D working space of the cleaning manipulator.(3)The method of trajectory planning in the cleaning process of the cleaning manipulator is studied,and the automatic motion control of the cleaning street lamp is realized.The cleaning operation of automatic street lamp is divided into three stages:lifting,cleaning and collecting.In the lifting and collecting stage of cleaning robot arm,quintic polynomial interpolation method in joint space is used to complete the trajectory planning of lifting and collecting process respectively.In the cleaning stage of the cleaning manipulator,the linear trajectory planning method in Cartesian space is adopted to complete the trajectory planning of the cleaning stage,and the characteristics of the trajectory planning in each stage are analyzed.(4)Establish the mathematical model of the contact pressure impedance control of the disc brush and lampshade to realize effective control of contact pressure.The impedance control parameters such as inertia coefficient m_d,stiffness coefficient k_d and damping coefficient b_d are determined.The simulation analysis of the contact pressure control on the surface of the lamp shade is carried out.The results show that the contact pressure between the disk brush and the lamp shade can be stabilized at the expected value.It is found that the greater the stiffness of the bristles,the shorter the time for the contact pressure between the brush and the lamp shade surface to reach the expected value.When the displacement value detected by the displacement sensor is less than the actual displacement value between the surface of the lamp shade and the disc brush,the actual contact pressure between the disc brush and the lamp shade will be less than the expected contact pressure.When the manufacturing stiffness of the bristles is less than the expected stiffness of the bristles,the actual contact pressure between the bristles and the lamp shade will be greater than the expected contact pressure.