Research On Trajectory Planning Of Demolition Robot Manipulator Based On Particle Swarm Optimization

As a special robot that can replace human beings to work in dangerous environment,demolition robot is widely used in high-risk environments such as earthquake,fire,flood and nuclear radiation.With the increase of operation requirements in dangerous environments such as building demolition,rescue and disaster relief and decommissioning of nuclear facilities,the demolition robot is required to be intelligent,fast,automatic and reliable.During the prime time of rescue,secondary disasters that break out at any time at the disaster site may cause secondary injuries to rescue workers and trapped people.The Demolition Robot replaces human beings to enter the site for operation,which should not only shorten the operation time of the demolition robot,but also ensure that the demolition robot can complete the operation task smoothly and quickly.Therefore,it is very important to study the automatic and rapid demolition operation of Demolition Robot.Based on the existing demolition robots,this paper studies the trajectory planning of the demolition operation of the demolition robot,and shortens the operation time through optimal design to realize the efficient operation of the demolition robot.The main research contents are as follows:(1)Kinematics analysis of Demolition Robot.The basic structure and characteristics of Demolition Robot are analyzed.The mapping relationship between joint space and driving space of Demolition Robot is studied.The D-H linkage coordinate system of the demolition robot manipulator is established,the forward and inverse kinematics of the demolition robot manipulator is analyzed,and the correctness of the kinematics analysis is verified.The operation range of the end breaking hammer of the demolition robot is solved by Monte Carlo method.(2)Research on trajectory planning of manipulator.Based on the kinematics analysis of the demolition robot,the manipulator trajectory planning under 4-3-4 piecewise polynomial interpolation,3-5-3 piecewise polynomial interpolation and 5-5-5 piecewise polynomial interpolation in joint space is compared.The curve operation process under the 5-5-5polynomial trajectory planning is more continuous and smooth,so as to realize the continuous and effective control of the operation angle,angular velocity and angular acceleration of each joint.The trajectory planning methods of linear interpolation and circular interpolation in Cartesian space are studied,and the Cartesian space trajectory of the end effector of the demolition robot is obtained.(3)Research on trajectory optimization of manipulator.Taking the shortest time as the optimization objective,under the constraints of the maximum angular velocity and angular acceleration of the joint in the process of demolition,the particle swarm optimization algorithm is used to optimize the 5-5-5 piecewise polynomial interpolation in the process of Demolition Robot Manipulator operation.On the basis of ensuring the shortening of Demolition Robot operation time and the improvement of efficiency,the feasibility of manipulator time optimal trajectory planning algorithm is verified.(4)Simulation analysis of manipulator.The simplified manipulator model of the demolition robot is imported into Adams,the constraints and related drives of the manipulator model are set,and the correctness of the trajectory planning of the demolition robot after the limit range and time optimization of the demolition robot operation is verified.