【摘要】 为解决高空作业车臂架运动的稳定性及作业时高效性的问题,以某型号折臂式高空作业车为研究对象,应用机器人学理论,建立高空作业车运动学模型。针对作业时臂架连接之间的关节角加速度存在突变的问题,在关节空间内采用3-5-3多项式插值方法进行轨迹规划,保证在运动过程中的角加速度连续性。并在满足最大关节角速度、角加速度约束条件下,使用粒子群算法算对各关节轨迹进行优化,得到基于时间最优的工作轨迹,避免各关节在运行中产生较大冲击,同时也提高了作业效率。更多还原

【Abstract】 In order to solve the problems of the stability and efficiency of the aerial operating vehicle,the kinematics model of the aerial operating vehicle was established by taking a certain type of folding arm aerial operating vehicle as the research object and applying the theory of robotics. In order to solve the problem of abrupt angular acceleration of joint between boom connections during operation,a 3-5-3 polynomial interpolation method was used to carry out trajectory planning in joint space to ensure the continuity of angular acceleration during movement. Under the constraints of the maximum joint angular velocity and angular acceleration,the particle swarm optimization algorithm was used to optimize the trajectories of each joint,and the optimal working trajectories were obtained based on time,so as to avoid the large impact of each joint in operation and improve the working efficiency.更多还原