A Multi-objective Trajectory Planning Scheme for Cabins Assembly Mechanism with B-spline Curves
In this paper,a novel assembly mechanism based on the Stewart platform is developed for the automated and accurate assembly of cabins or large-size components.To get a smooth trajectory of moving platform,the B-spline curves has been applied in the trajectory planning problem.In order to satisfy the actual demands of cabins assembly,the motion time,energy consumption and maximum absolute value of actuators jerk are selected and defined as three objective functions to evaluate the performance of the trajectory,Artificial Immune Algorithm(AJA)has been chosen to solve the problem of multi-objective trajectory optimization whose constraints are imposed by the kinematics and dynamics of the Stewart platform structure.The simulation results of a case study confirmed that the proposed trajectory planning scheme can satisfy the different demands of posture adjustment while selecting different optimal solutions from the Pareto optimal front.Meanwhile,smooth trajectories with a relatively satisfactory performance can also be acquired for the actuators.
trajectory planning cabins assembly mechanism Stewart platform multi-objective optimization Artificial Immune Algorithm
D Chen SQ Li JF Wang Y Feng Y Liu
Huazhong University of Science and Technology,Wuhan 430074,China Hunan Normal University,Changsha 410000,China
国际会议
第十七届国际制造会议(The 17th International Manufacturing Conference in China)(IMCC 2017))
深圳
英文
1-15
2017-11-23（万方平台首次上网日期，不代表论文的发表时间）