Structure design and trajectory positioning method of underwater telescopic arm robot based on DE algorithm

Abstract

In view of the large target location error in underwater environment and the low search accuracy of common underwater robotic arms, an underwater telescopic arm robot based on the DE algorithm is proposed. Firstly, the mechanical structure design and D-H parameter method are used to construct the robot arm, and the feasibility of the underwater telescopic arm robot is verified by the parameters of the kinematic solution of the robot arm combined with 5-5-5 polynomial trajectory planning. Considering the possible collision in the trajectory of the underwater robot arm and the increase in load pressure on the arm, the differential evolution method is introduced to iterate the time of the arm through six stages to plan the optimal value of time for the optimal trajectory of the arm, and finally, the algorithm is applied to the experiment. The end-effector parameters' smooth and non-abrupt graphs of acceleration, velocity, and impact demonstrate the efficiency of the underwater robot design.

Keywords

• underwater telescopic arm robot
• 5-5-5 polynomial trajectory planning
• de algorithm
• optimal value of trajectory positioning time