Research On Trajectory Optimization Of An Automatic Drill Pipe Manipulator

In the process of deep resource exploration,the drill pipe automatic operation manipulator developed by the national key research and development program "joint research and development and demonstration of key technology and equipment for polymetallic core drilling" can replace labor.It can complete the repetitive and laborintensive tripping work,which can complete the automatic operation of the drill rod from the drill rod holder to the orifice.According to the project task requirements,a single drill rod operation needs to be completed within 50 seconds.This paper takes the operating time The shortest is the optimization goal,and the motion trajectory of the manipulator is studied.First,use the DH parameter method to establish a kinematics model,derive the robot’s forward and inverse kinematics equations,and derive the necessary parameters for trajectory planning according to the kinematics model;select appropriate path points according to the actual construction conditions,and use them respectively.The trajectories of the three joints of the manipulator are planned by the third and fifth degree polynomials,and the results are compared and analyzed by Matlab software simulation.Secondly,in order to further improve the work efficiency of the drill pipe automatic operation manipulator,genetic algorithm is selected as an intelligent algorithm for trajectory optimization,referring to Darwin’s evolution theory,and selecting the best individuals according to the natural law of survival of the fittest in nature to set the shortest time The individual is the best individual,the mathematical model with the shortest time is established,the constraints are added to the joints of the manipulator,the program code of the genetic algorithm is written,and the simulation experiment results show that the genetic algorithm trajectory optimization can effectively shorten the single drill of the manipulator.Single lever operation time.Finally,through Robot Studio software,the process of manipulator operating drill pipe was simulated and studied,and the necessary Smart components,virtual teach pendant,and I/O signal connections were established for the operation of the simulation system.The virtual teach pendant was written in the virtual teach pendant to support the operation of the robot.The RAPID code,which adds the optimization results and constraints of the genetic algorithm,completely restores the actual operation process of the manipulator,discovers problems in time and alarms,and the written simulation program can be finally imported into the manipulator running program and used in the production process.The simulation results show that the manipulator with optimized trajectory runs smoothly during the movement without singularities and alarms,which verifies the feasibility of genetic algorithm trajectory optimization.