以对塔式热发电站定日镜表面清洁作业的车载清洁移动机械臂为研究对象,考虑到机械臂的清洁效率及运动过程中的震动和磨损问题,提出一种机械臂时间-冲击最优轨迹规划方法,优化其时间与冲击量,提高机械臂工作效率的同时延长使用寿命。利用关节空间的位置-时间序列,采用5次B样条函数在关节空间构造插值曲线,以机械臂关节的角速度、角加速度和角加加速度为约束量,利用改进多目标粒子群优化（MO-PSO）算法对目标函数进行优化求解, 最后通过构造归一化权重目标函数将多目标优化转化为单目标优化求解出最优解。仿真分析表明,该方法可提高机械臂的工作效率并减少磨损及振动。
Abstract
Taking the vehicle-mounted cleaning mobile manipulator for cleaning the surface of the heliostat in the tower solar thermal power station as the research object, considering the cleaning efficiency of the manipulator and the vibration and wear problems during the movement, a time-impact optimal trajectory planning method of the manipulator is proposed, which optimizes its time and impact to improve the working efficiency of the manipulator and extend its service life. Using the position-time sequence of the joint space, an interpolation curve is constructed in the joint space using the quintic B-spline function. The angular velocity, angular acceleration and angular jerk of the manipulator joints are used as constraints, and the improved multi-objective particle swarm optimization （MO-PSO）algorithm is used to solve the objective function. And finally the multi-objective optimization is transformed into a single objective optimization by constructing a normalized weighted objective function to obtain the optimal solution. Simulation analysis shows that this method can improve the working efficiency of the manipulator and reduce wear and vibration.
关键词
塔式太阳能热发电 /
机械臂 /
多目标优化 /
粒子群优化 /
最优轨迹规划 /
定日镜清洁
Key words
tower solar thermal power station /
manipulators /
multi-objective optimization /
particle swarm optimization （PSO） /
optimal trajectory planning /
heliostat cleaning
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
参考文献
[1] 宁会峰, 鄢志彬, 李晓, 等. 移动式光伏组件清扫机械臂D-H模型与运动规划[J]. 太阳能学报, 2019, 40(12): 3541-3547.
NING H F, YAN Z B, LI X, et al. D-H model and motion planning of mobile photovoltaic module cleaning robot arm[J]. Acta energiae solaris sinica, 2019, 40(12): 3541-3547.
[2] 李黎, 尚俊云, 冯艳丽, 等. 关节型工业机器人轨迹规划研究综述[J]. 计算机工程与应用, 2018, 54(5): 36-50.
LI L, SHANG J Y, FENG Y L, et al. A survey of joint industrial robot trajectory planning[J]. Computer engineering and applications, 2018, 54(5): 36-50.
[3] 李林升.基于惩罚函数法的时间最优机械臂轨迹规划[J]. 机械设计与研究, 2019, 35(5): 56-58, 69.
LI L S.Time-optimal manipulator trajectory planning based on penalty function method[J]. Mechanical design and research, 2019, 35(5): 56-58,69.
[4] 陈晗, 李林升.基于复合形法的时间最优机械臂轨迹规划[J]. 机械传动, 2019, 43(3): 72-75, 94.
CHEN H, LI L S.Time optimal manipulator trajectory planning based on complex method[J]. Mechanical transmission, 2019, 43(3): 72-75,94.
[5] 王延年, 向秋丽.基于改进粒子群优化算法的六自由度机器人轨迹优化算法[J]. 国外电子测量技术, 2020, 39(1): 49-53.
WANG Y N, XIANG Q L.Trajectory optimization algorithm of 6-DOF robot based on improved particle swarm optimization algorithm[J]. Foreign electronic measurement technology, 2020, 39(1): 49-53.
[6] 郑继新.基于给定路径点的机械臂轨迹时间最优研究[D]. 兰州: 兰州理工大学, 2019.
ZHENG J X.Research on optimal trajectory time of manipulator based on given path points[D]. Lanzhou: Lanzhou University of Technology, 2019.
[7] 陆佳皓, 平雪良.一种机械臂最优时间-冲击轨迹优化算法[J]. 机械科学与技术, 2019, 38(10): 1548-1554.
LU J H, PING X L.An optimal time-impact trajectory optimization algorithm for manipulator[J]. Mechanical science and technology, 2019, 38(10): 1548-1554.
[8] DUAN H G, ZHANG R M, YU F, et al. Optimal trajectory planning for glass-handing robot based on execution time acceleration and jerk[J/OL]. Journal of robotics, 2016.http://www.hindawi.com.
[9] LIU X M, QIU C R, ZENG Q F, et al. Time-energy optimal trajectory planning for collaborative welding robot with multiple manipulators[J]. Procedia manufacturing, 2020,43: 527-534.
[10] 张江林, 庄慧敏, 刘俊勇, 等. 基于CS-PSO算法的电池储能系统多目标优化运行策略[J]. 工程科学与技术, 2018, 50(4): 193-200.
ZHANG J L, ZHUANG H M, LIU J Y, et al. Multi-objective optimization operation strategy of battery energy storage system based on CS-PSO algorithm[J]. Engineering science and technology, 2018, 50(4): 193-200.
基金
甘肃省自然科学基金（18JR3RA139）; 甘肃省省级引导科技创新发展专项资金（2018ZX-13）
PDF(1708 KB)
