Trajectory Planning of Crossed Roller Bearing Automatic Assembly Robotic Arms Based on the Improved Gray Wolf Optimizer
For crossed roller bearings, manual assembly has problems such as low efficiency, high cost and large error, a four-degree-of-freedom robotic arm was designed to automatically assemble cross roller bearings. In order to improve the efficiency of the robotic arm, an improved gray wolf optimizer (IGWO...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2024-11-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.11.010 |
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| author | Hu Jiangtao Dang Yugong Zhou Zhigang Zhang Yupeng |
| author_facet | Hu Jiangtao Dang Yugong Zhou Zhigang Zhang Yupeng |
| author_sort | Hu Jiangtao |
| collection | DOAJ |
| description | For crossed roller bearings, manual assembly has problems such as low efficiency, high cost and large error, a four-degree-of-freedom robotic arm was designed to automatically assemble cross roller bearings. In order to improve the efficiency of the robotic arm, an improved gray wolf optimizer (IGWO) based on 3-7-3 polynomial segmented interpolation was proposed to plan the time-optimal trajectory of the robotic arm. The linear control factor of the algorithm was replaced with a nonlinear control factor, and the algorithm was combined with the beetle antennae search (BAS) algorithm. It can avoid falling into the local optimization and improve the solution efficiency and accuracy of the algorithm. The simulation results show that, compared with the gray wolf optimizer (GWO), the movement time of the improved gray wolf optimizer is shortened by 17%, the efficiency is significantly improved, and the trajectory curves of each joint are smooth and continuous. The research results provide a basis for the subsequent motion control of the robotic arm. |
| format | Article |
| id | doaj-art-5481b436f8f54fe39a6046e6ca2f8254 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-11-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-5481b436f8f54fe39a6046e6ca2f82542025-01-10T15:02:00ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-11-0148717877639577Trajectory Planning of Crossed Roller Bearing Automatic Assembly Robotic Arms Based on the Improved Gray Wolf OptimizerHu JiangtaoDang YugongZhou ZhigangZhang YupengFor crossed roller bearings, manual assembly has problems such as low efficiency, high cost and large error, a four-degree-of-freedom robotic arm was designed to automatically assemble cross roller bearings. In order to improve the efficiency of the robotic arm, an improved gray wolf optimizer (IGWO) based on 3-7-3 polynomial segmented interpolation was proposed to plan the time-optimal trajectory of the robotic arm. The linear control factor of the algorithm was replaced with a nonlinear control factor, and the algorithm was combined with the beetle antennae search (BAS) algorithm. It can avoid falling into the local optimization and improve the solution efficiency and accuracy of the algorithm. The simulation results show that, compared with the gray wolf optimizer (GWO), the movement time of the improved gray wolf optimizer is shortened by 17%, the efficiency is significantly improved, and the trajectory curves of each joint are smooth and continuous. The research results provide a basis for the subsequent motion control of the robotic arm.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.11.010Crossed roller bearingRobotic armTrajectory planningImproved gray wolf optimizer（IGWO） |
| spellingShingle | Hu Jiangtao Dang Yugong Zhou Zhigang Zhang Yupeng Trajectory Planning of Crossed Roller Bearing Automatic Assembly Robotic Arms Based on the Improved Gray Wolf Optimizer Jixie chuandong Crossed roller bearing Robotic arm Trajectory planning Improved gray wolf optimizer（IGWO） |
| title | Trajectory Planning of Crossed Roller Bearing Automatic Assembly Robotic Arms Based on the Improved Gray Wolf Optimizer |
| title_full | Trajectory Planning of Crossed Roller Bearing Automatic Assembly Robotic Arms Based on the Improved Gray Wolf Optimizer |
| title_fullStr | Trajectory Planning of Crossed Roller Bearing Automatic Assembly Robotic Arms Based on the Improved Gray Wolf Optimizer |
| title_full_unstemmed | Trajectory Planning of Crossed Roller Bearing Automatic Assembly Robotic Arms Based on the Improved Gray Wolf Optimizer |
| title_short | Trajectory Planning of Crossed Roller Bearing Automatic Assembly Robotic Arms Based on the Improved Gray Wolf Optimizer |
| title_sort | trajectory planning of crossed roller bearing automatic assembly robotic arms based on the improved gray wolf optimizer |
| topic | Crossed roller bearing Robotic arm Trajectory planning Improved gray wolf optimizer（IGWO） |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.11.010 |
| work_keys_str_mv | AT hujiangtao trajectoryplanningofcrossedrollerbearingautomaticassemblyroboticarmsbasedontheimprovedgraywolfoptimizer AT dangyugong trajectoryplanningofcrossedrollerbearingautomaticassemblyroboticarmsbasedontheimprovedgraywolfoptimizer AT zhouzhigang trajectoryplanningofcrossedrollerbearingautomaticassemblyroboticarmsbasedontheimprovedgraywolfoptimizer AT zhangyupeng trajectoryplanningofcrossedrollerbearingautomaticassemblyroboticarmsbasedontheimprovedgraywolfoptimizer |