Trajectory Planning of Crossed Roller Bearing Automatic Assembly Robotic Arms Based on the Improved Gray Wolf Optimizer

Abstract

For crossed roller bearings, manual assembly has problems such as low efficiency, high cost and large error, a four-degree-of-freedom robotic arm was designed to automatically assemble cross roller bearings. In order to improve the efficiency of the robotic arm, an improved gray wolf optimizer (IGWO) based on 3-7-3 polynomial segmented interpolation was proposed to plan the time-optimal trajectory of the robotic arm. The linear control factor of the algorithm was replaced with a nonlinear control factor, and the algorithm was combined with the beetle antennae search (BAS) algorithm. It can avoid falling into the local optimization and improve the solution efficiency and accuracy of the algorithm. The simulation results show that, compared with the gray wolf optimizer (GWO), the movement time of the improved gray wolf optimizer is shortened by 17%, the efficiency is significantly improved, and the trajectory curves of each joint are smooth and continuous. The research results provide a basis for the subsequent motion control of the robotic arm.

Keywords

• Crossed roller bearing
• Robotic arm
• Trajectory planning
• Improved gray wolf optimizer（IGWO）