Optimization And Simulation Analysis Of Smooth Motion Of 5-DOF Pickup Manipulator

With the continuous development and improvement of robot technology,ball picking robot has flexible operation and strong adaptability to the environment.It can complete the task of picking up ball objects in the training ground,replacing the traditional manual ball picking operation.Picking up the manipulator as the core component,is the key to successfully complete the task of picking up,however,there are still obstacles in the process of picking up the manipulator environment collision,uneven track and low efficiency and other problems.This paper takes the 5-DOF serial pick-up manipulator as the research object,establishes its kinematics and dynamics model,and focuses on the obstacle avoidance path planning,smooth motion trajectory planning and trajectory optimization technology of the pick-up manipulator under obstacle conditions.The details are as follows:Firstly,the 5-DOF tandem picking manipulator independently developed by the laboratory is taken as the research object.D-H method is used to construct the forward and inverse kinematics models.Aiming at the collision problem of the manipulator in the THREE-DIMENSIONAL obstacle environment,an envelope method and improved artificial potential field method are used to plan the three-dimensional path of picking up manipulator.AABB bounding box method,is adopted to establish the picking manipulator each connecting rod with obstacles collision detection algorithm,on the basis of the original repulsion potential field function at the same time increase the picking manipulator end and the distance between the target item,and will be obstacles radius is introduced in the repulsive force function,realizes collecting threedimensional space manipulator path planning,has solved the traditional artificial potential field method target inaccessible defects.The simulation results show that the path point can accurately bypass obstacles to reach the target point and achieve the goal of obstacle avoidance.Then,in SOLIDWORKS simulation platform,the three-dimensional model of each link is established,and the center of mass,mass,inertia tensor and other parameters are identified,and the Lagrange functional balance method is used to build the dynamics model of the five degrees of freedom series picking up manipulator.The path planning task of picking up manipulator was realized by using path point quintic polynomial interpolation method,and the maximum velocity,acceleration and torque of each joint were set as the limiting conditions.The simulation results show that the angular displacement,angular velocity and angular acceleration of each joint are smooth and smooth.Finally,in order to improve the operation efficiency of picking up manipulator,the numerical simulation and virtual prototype simulation processes of the track optimization design of smooth motion of 5-DOF serial picking up manipulator under the obstacle condition are realized on MATLAB and ADAMS simulation platforms respectively by using cosine adaptive genetic algorithm.The simulation results show that the performance of the two is consistent,and the operating efficiency of the pick up manipulator is improved by 40%,which provides a reference for the motion control of the manipulator in complex environment.