Research on safety characteristics of electric shovel based on optimal trajectory planning theory of manipulator

doi:10.16265/j.cnki.issn1003-3033.2025.S1.0027

Abstract

Abstract:

In order to ensure the operation safety of the cylinder disassembly and assembly manipulator, an optimal trajectory solution method for the manipulator based on the IGWO algorithm was proposed. Firstly, the Logistic-Tent mapping algorithm, the scoring evolution algorithm, and the population elimination evolution mechanism were introduced to improve the standard gray wolf optimization (GWO) algorithm, and an IGWO algorithm for the trajectory optimization of the cylinder disassembly manipulator was obtained. Then, the IGWO algorithm was compared with the PSO algorithm and the GWO algorithm in the basis function solving problem to verify the optimization performance of the IGWO algorithm. Finally, the IGWO algorithm was used for the trajectory optimization of the manipulator and compared with the 3-5-3 polynomial's trajectory planning. The results show that compared with the 3-5-3 polynomial, the IGWO algorithm reduces the maximum angular acceleration of the joint by 48.3%, which improves the operation stability of the manipulator.

Key words: oil cylinder, disassembly and assembly of robotic arms, acceleration, improved gray wolf optimization (IGWO), trajectory planning

CLC Number:

X928事故调查与分析(工伤事故分析与预防)

LIU Tong, YU Tao, JIA Jianyu. Research on safety characteristics of electric shovel based on optimal trajectory planning theory of manipulator[J]. China Safety Science Journal, 2025, 35(S1): 180-186.

Figures/Tables 9

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函数	表达式	维数	定义域
F₁	${F}_{1}\left(x\right)=ma{x}_{i}\left\{\right\|{x}_{i}\|,1\le i\le 30\}$	30	[-100,100]
F₂	${F}_{2}\left(x\right)=\sum _{i=1}^{30}\|{x}_{i}\|+\prod _{i=1}^{30}\|{x}_{i}\|$	30	[-10,10]
F₃	${F}_{3}\left(x\right)={\left[\frac{1}{500}+\sum _{j=1}^{25}\frac{1}{j+\sum _{i=1}^{2}({x}_{i}-{a}_{ij}{)}^{6}}\right]}^{-1}$	2	[-65,65]
F₄	${F}_{4}\left(x\right)=\sum _{i=1}^{30}[{x}_{i}^{2}-10cos\left(2\pi {x}_{i}\right)+10]$	30	[-5,5]

函数	方法	平均值	最差值	最优值	标准值
F₁	PSO	1.253 2	1.511 2	0.956 2	0.253 2
	GWO	7.26×10^-8	6.52×10^-6	2.61×10^-8	2.51×10^-6
	IGWO	2.51×10^-10	1.45×10^-9	2.15×10^-11	5.33×10^-10
F₂	PSO	6.53×10^-2	5.33×10^-1	2.56×10^-3	0.05151
	GWO	2.63×10^-17	6.33×10^-15	2.93×10^-17	2.33×10^-17
	IGWO	6.33×10^-25	6.83×10^-25	2.33×10^-26	2.33×10^-25
F₃	PSO	1.662 5	5.925 6	0.998 2	1.766 5
	GWO	3.252 2	10.225 2	0.998 2	3.525 6
	IGWO	1.256 2	2.951 5	0.998 2	0.625 2
F₄	PSO	56.012 5	92.256 3	31.526 3	15.256 2
	GWO	4.263 2	22.133 6	2.02×10^-15	6.2531
	IGWO	2.33×10^-14	4.42×10^-13	0	1.256 6

关节位置	q/(°)
关节位置	1	2	3	4
位置0	-10.22	-10.12	-14.65	69.32
位置1	-30.22	-6.32	-12.62	70.65
位置2	-40.33	-3.25	-11.66	80.97
位置3	-48.33	-0.22	-10.66	95.27
位置4	-60.66	1.64	-6.28	100.64
位置5	-70.52	5.61	2.33	110.66
位置6	-90.23	7.87	7.26	120.96