A Time Optimal Trajectory Planning of the Metamorphic Industrial Robot

doi:10.3901/JME.2023.05.100

Abstract

Abstract: According to the working principle of the metamorphic industrial robot, its working trajectory model is established. And based on this model, a time optimization trajectory planning method of the metamorphic industrial robot is proposed. This method focuses on the transformation process of robot configuration and transforms the trajectory planning problem into an internal and external nested optimization problem for analysis. The design variables, objective function and constraints of the optimization problem are presented respectively, and the mathematical model of the time optimization trajectory planning problem of the metamorphic industrial robot is obtained. The proposed method is used to study the trajectory planning of the metamorphic palletizing robot developed by our research group. According to its working trajectory model, the mathematical model of the optimization design problem is established. After presenting the calculation method for coefficients of the joint angle interpolation functions, the optimization problem is solved by nested PSO algorithm, and the optimized joint angle functions and theoretical working trajectory are calculated. Compared with the actual working track gained by the experiment, the feasibility of the proposed method is verified. This work provides a reference for the research of motion planning of metamorphic robots.

Key words: metamorphic mechanisms, industrial robot, trajectory planning, time optimization, nested PSO algorithm

CLC Number:

TP242

WANG Rugui, DONG Yichen, CHEN Huiqing. A Time Optimal Trajectory Planning of the Metamorphic Industrial Robot[J]. Journal of Mechanical Engineering, 2023, 59(5): 100-111.

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