摘要
在动车组车内喷涂阻尼涂料能够有效减震降噪,提高乘客乘坐舒适性。目前动车组车内阻尼涂料的喷涂主要依赖人工操作,不仅喷涂效率低、涂层厚度难以均匀,还对工人健康构成风险。为此,设计阻尼涂料双机器人自动喷涂系统,并采用改进的D-H法建立机械臂运动学模型,进行正运动学分析。针对双机械臂的避障问题,建立碰撞检测模型,将机械臂结构简化为由多个圆柱体与半球体构成的包络模型,构建最短距离计算公式,精确识别多杆件间的潜在干涉关系。在此基础上,提出一种在关节空间引入虚拟吸引点机制,并融合模拟退火策略的改进人工势场算法。该算法可有效引导路径脱离障碍物引力的干扰区,并在路径陷入局部最优时,通过施加随机扰动并通过概率接受次优解,实现从局部低谷跳跃至全局最优解。MATLAB仿真验证表明:在无避障策略下,双臂运动过程中的最小间距一度降至244.16 mm,存在严重碰撞风险;而采用改进算法后,双臂最小间距始终保持在500 mm安全阈值以上。此外,在路径规划对比测试中,相比传统人工势场法因陷入局部极小值导致的规划失败,所提方法能够有效克服局部最优问题,成功规划出无碰撞路径。因此,该方法能够有效提升双机械臂的避障能力和路径规划精度,确保喷涂作业的安全性和高效性,满足动车组喷涂任务的需求,提高喷涂精度和作业效率,减少人工干预,降低职业健康风险,为动车组机器人喷涂技术的发展提供理论支撑和实践指导。
Spraying damping coatings inside EMUs can effectively reduce vibration and noise,thereby improving passenger comfort.Currently,spraying damping coatings inside EMUs mainly relies on manual labor,which not only results in low spraying efficiency and uneven coating thickness but also poses health risks to workers.To address this,a double-robot automatic spraying system for damping coatings was designed.An improved D-H method was used to establish the kinematic model of the manipulators and to perform forward kinematic analysis.To address the obstacle avoidance problem of double manipulators,a collision detection model was established by simplifying the manipulator structure into an envelope model composed of multiple cylindrical and hemispherical elements.A minimum distance calculation formula was developed to accurately identify potential interferences among multiple links.On this basis,an improved artificial potential field algorithm was proposed,which introduced a virtual attraction point mechanism in joint space and integrated a simulated annealing strategy.This algorithm could effectively guide the trajectory away from the interference zone of obstacles attraction,and when the path fell into a local optimum,it achieved a jump from the local minimum to the global optimum by applying random perturbations and probabilistically accepting suboptimal solutions.MATLAB simulation results demonstrate that without the collision avoidance strategy,the minimum distance between the double manipulators drops to 244.16 mm,posing a severe collision risk.In contrast,the proposed algorithm remains the minimum distance above the required safety threshold of 500 mm.Additionally,in comparative path planning tests,compared with the traditional artificial potential field method,which fails due to getting trapped in local minima,the proposed method can effectively overcome the local optima problem and successfully plan collision-free paths.So this method can effectively enhance the obstacle avoidance capability and path planning accuracy of double manipulators,ensuring the safety and efficiency of spraying operations,meeting the requirements of EMU spraying tasks,improving spraying precision and operational efficiency,reducing manual intervention,lowering occupational health risks,and providing theoretical support and practical guidance for the development of EMU robotic spraying technology.
作者
罗成浩
熊涛
向德宁
齐淑林
严熹磊
LUO Chenghao;XIONG Tao;XIANG Dening;QI Shulin;YAN Xilei(School of Electrical and Information Engineering,Wuhan Institute of Technology,Wuhan Hubei 430205,China;Wuhan Cigarette Factory,China Tobacco Hubei Industrial Co.,Ltd.,Wuhan Hubei 430040,China;CRRC Qingdao Sifang Co.,Ltd.,Qingdao Shandong 266111,China)
出处
《机床与液压》
北大核心
2026年第5期28-37,共10页
Machine Tool & Hydraulics
基金
武汉工程大学研究生教育创新基金(CX2024569)
国家自然科学基金项目(62573331)。
关键词
双机械臂
碰撞检测
改进人工势场算法
路径规划
double manipulator
collision detection
improved artificial potential field algorithm
path planning
