Research on the Optimal Trajectory Planning Method for the Dual-Attitude Adjustment Mechanism Based on an Improved Multi-Objective Salp Swarm Algorithm

Abstract

In this study, an optimization method for the motion trajectory of attitude actuators was investigated in order to improve assembly efficiency in the automatic docking process of large components. The self-developed dual-attitude adjustment mechanism (2-PPPR) is used as the research object, and the structure is symmetrical. Based on the modified Denavit–Hartenberg (MDH) parameter description method, a kinematic model of the attitude mechanism is established, and its end trajectory is parametrically expressed using a five-order B-spline curve. Based on the constraints of the dynamics and kinematics of the dual-posture mechanism, the total posturing time, the degree of urgency of each joint, and the degree of difficulty of the mechanism’s posturing are selected as the optimization objectives. The Lévy flight and Cauchy variation algorithms are introduced into the salp swarm algorithm (SSA) to solve the parameters of the multi-objective trajectory optimization model. By combining the evaluation method of the multi-objective average optimal solution, the optimal trajectory of the dual-tuning mechanism and the motion trajectory of each joint are obtained. The simulation and experiment results show that the trajectory planning method proposed in this paper is effective and feasible and can ensure that the large-part dual-posture mechanism can complete the automatic docking task smoothly and efficiently.