| 基于粒子群优化算法的五自由度机械臂轨迹规划 |
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| 引用本文： | 江鸿怀,金晓怡,邢亚飞,奚鹰.基于粒子群优化算法的五自由度机械臂轨迹规划[J].机械设计与研究,2020,36(1):107-110. |
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| 作者姓名： | 江鸿怀 金晓怡 邢亚飞 奚鹰 |
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| 作者单位： | 上海工程技术大学机械与汽车工程学院,上海201620;同济大学 机械与能源工程学院,上海201804 |
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| 摘 要： | 为了让机械臂的工作时间达到最优,以自主研发的抛光机器人样机为研究对象,针对手表表壳表耳部分的抛光过程,提出PSO算法对五自由度机械臂轨迹规划进行优化,并通过MATLAB软件进行机械臂的仿真与分析。仿真结果表明,基于PSO算法的轨迹规划使机械臂在工作过程中加加速度不会产生突变,运动轨迹精度高,机械臂工作时间达到最优。
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| 关 键 词： | 五自由度机械臂 PSO算法 轨迹规划 仿真与分析 |
Five-degree-of-freedom Manipulator Trajectory Planning Based on PSOParticle Algorithm |
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| Affiliation: | (School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science Shanghai 201620,China;School of Mechanical Engineering,TongjiUniversity,Shanghai 201804,China) |
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| Abstract: | In order to optimize the working time of the manipulator,this paper takes the self-developed polishing robot prototype as the research object.According to the polishing process of the ear part of the watch case,the PSO algorithm is proposed to optimize the trajectory planning of the five-degree-of-freedom manipulator.The MATLAB software performs simulation and analysis of the robot arm.The simulation results show that the trajectory planning based on PSO algorithm makes the ji of acceleration of the mechanical arm not abrupt during the working process,the motion trajectory is high,and the working time of the arm is optimal. |
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| Keywords: | five degree of freedom manipulator t PSO algorithm trajectory planning simulation and analysis |
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