Optimization Of Motion Planning Based On Loading Robot

With the rapid development of domestic economy and science and technology,the logistics industry has become one of the most important industries in economic construction,followed by the prosperity of the logistics industry and the increase of labor costs,the contradiction between the rising demand for loading and unloading and the low efficiency of manual loading is becoming increasingly serious.At the same time,the application and development of industrial automation technology is very rapid.As the core of industrial automation,robots will become the main force of this revolution.Industrial robots have gradually played the role of traditional labor force in packaging,transportation,welding,logistics and other industries.In view of this situation,our laboratory decided to cooperate with enterprises outside the school to develop an automatic loading robot,which aims to solve the problems of heavy loading task,low efficiency,poor working environment and high labor cost.Based on the motion planning of the loading robot,this paper designs the destacking mechanism and packing planning,and relies on its kinematics and dynamics:(1)Design of destacking mechanism and proposal of packing plan.In the actual production line,all kinds of goods from the robot to the container transportation process,also need to be matched with the destacking mechanism;the reasonable packing layout,is closely related to the efficiency of packing,whether for improving the efficiency of the robot,saving resources or for the application of packing algorithm innovation has important practical significance.On the other hand,packing planning is also the premise of subsequent path planning,which provides the basic path point.(2)The kinematic and dynamic models are established.Based on the structure diagram of the loading robot,the improved D-H law is used to construct the linkage coordinate system diagram,and the kinematic parameters table is obtained and the forward and inverse kinematics solution are solved.Then,the appropriate dynamic mathematical modeling scheme is selected to establish the rigid body dynamics equation and solve it.Finally,Adams is used to simulate and verify.(3)The optimization of overall path planning and the establishment of trajectory planning method.The mathematical model of the path planning of the loading robot is established,and the improved ant colony algorithm is applied to optimize the path planning.After getting the optimal path point planning,the fifth polynomial is selected for the trajectory planning between the specific path points and the trajectory mode is simulated and verified by combining kinematics.(4)The trajectory optimization based on harmony search algorithm.The mathematical model of trajectory planning is established.The energy consumption and time are taken as performance indexes,and its weighted parameters are determined according to the actual situation.The harmony search algorithm is used to optimize the model.Finally,the analysis results are verified.It is proved that the optimized trajectory planning can greatly reduce energy consumption and improve the efficiency.