一种箱式结构清扫臂的尺寸优化及轨迹规划

为克服工作空间受限的箱式结构不易清扫的问题,以实验室现有的气箱为清扫对象,设计了一种箱式结构清扫臂,并依据优化设计的思想,以箱式结构清扫臂的工作空间最小为优化目标,确定了基杆的最优长度和基杆与箱体壁的最优夹角;同理,在各臂转到同一条线上时,以清扫臂对各个关节的转动惯量最小为优化目标,得出各臂的最优臂长;最后,根据箱体的尺寸和结构规划了一条清扫路径,并基于路径各个部分的特点分别在关节空间和笛卡尔空间进行了轨迹规划,最终导出整条轨迹的运动学方程,以此进行运动学验证和仿真.

Size optimization and trajectory planning for a kind of box-type structure cleaning arm

To overcome the difficulty in cleaning the box structure whose working space is limited, this paper developed a kind of box-type structure cleaning arm for cleaning the laboratory existing air-box. According to the method of optimization design, the optimal length of base rod and the optimal angle between the base rod and the box could be determined. Similarly, the optimization objective is to mini- mize the moment of inertia that the cleaning arm exerts on every joint when all of the arms rotate to a line. The optimal length for each arm of cleaning arm could be obtained. Finally, according to the size and structure of the box, a cleaning path can be planned. In accordance with the characteristics of this path, this paper has finished the trajectory planning in the joint space or Cartesian space and exported the entire track kinematic equations, which can be used to carry out the kinematics simulation.