Design And Trajectory Optimization Of Manipulator

With the continuous advancement of "Made in China 2025",the pace of industrialization will be faster and faster.In this process,the industrial manipulators occupies an unshakable position.The use rate of industrial manipulators can directly affect the speed of industrialization,so the research of the manipulator should be given top priority.This paper takes the trajectory optimization of the manipulator as the research object,and hoping that the manipulator can accomplish the target task smoothly and efficiently.In this paper,a six-degree-of-freedom manipulator is preliminary designed,and multi-objective genetic algorithm is used to optimize and analyze the main parameters of the manipulator,so as to reduce the overall quality as much as possible on the premise of guaranteeing the strength.The optimized parameters are used to rebuild the three-dimensional model,and kinematics analysis is made to establish the forward and inverse kinematics model of the manipulator.Then the correctness of the forward and inverse kinematics model is verified by simulation.Secondly,the trajectory planning method of the manipulator is studied,and the quintic polynomial interpolation is used to plan the trajectory of grasping and placing tasks.The angular velocity and acceleration curves are smooth and continuous.In order to provide a basis for the selection of driving motor,the dynamics of the manipulator was analyzed,and the relationship between the moment and the motion of the manipulator was studied,and the types of driving motors for each axis are determined.Finally,a genetic algorithm based on adaptive adjustment and united simulation method are studied to optimize the trajectory.The method of united simulation is used to select all feasible trajectories according to the principle of minimum error is optimal,and two sets of trajectories to be selected with the least error are obtained.The two groups of trajectories are compared in the size of motor driving torque,and the groupof trajectories with the smallest moment is used as the preset trajectory,and then genetic algorithm is used to optimize the trajectory of motion with the goal of time optimization,and a set of optimal solutions are obtained.However,because the angular acceleration of the optimal solution varies greatly,considering that there may be a local optimum in the process of solving,an adaptive adjustment mechanism is added to improve the genetic algorithm,a set of optimal solutions are obtained.The results show that the change of angular acceleration is obviously improved,and the movement time is obviously shortened.The solutions can ensure the rapid and stable operation of the manipulator.