A trajectory optimization method for a robotic arm for transporting low-rigidity parts in a narrow space

CN121912405BActive Publication Date: 2026-05-26SICHUAN UNIVERSITY OF SCIENCE AND ENGINEERING
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SICHUAN UNIVERSITY OF SCIENCE AND ENGINEERING
Filing Date
2026-03-24
Publication Date
2026-05-26

AI Technical Summary

Technical Problem

When existing robotic arms transport small-rigidity parts in confined spaces, they are prone to scraping and collisions, which leads to a decrease in the shape accuracy of the parts and large impacts on the joints, affecting the reliability of the robotic arm and the shape and position accuracy of the parts.

Method used

The motion trajectory of the robotic arm is optimized using polynomial interpolation and an improved Fox Algorithm (IFOX). Motion time is optimized through chaotic mapping, spiral encirclement, Levy flight, and cross-sectional strategies. The deformation of the robotic arm is optimized by combining finite element simulation and a reinforced structure is set to improve the deformation resistance of the parts.

Benefits of technology

This enables the robotic arm to move smoothly in confined spaces, reduces part deformation, improves the shape and position accuracy of parts and the working efficiency of the robotic arm, and reduces wear on the robotic arm and the risk of fixture failure.

✦ Generated by Eureka AI based on patent content.

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Abstract

This invention discloses a trajectory optimization method for a robotic arm transporting low-rigidity parts in a narrow space, comprising: constructing a joint trajectory motion model of the robotic arm; pre-setting trajectory planning equations; constructing the kinematic equations of the robotic arm based on the angular displacement of each joint, and obtaining the solution for the angular displacement of each joint; setting the range of motion time for each path segment in the motion trajectory, and iteratively optimizing the motion time of each path segment using chaotic mapping strategy, spiral encirclement strategy, Levy flight strategy, cross-sectional strategy, and elite retention strategy, and outputting the optimal motion time for each path segment; discretizing the optimal motion time, and outputting the angular displacement, angular velocity, and angular acceleration of each joint at each time node after discretization; mapping to the linear velocity of the robotic arm end effector, and optimizing the motion trajectory of the robotic arm using the linear velocity of the robotic arm end effector at each time node.
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