基于仿生原理的物流机器人结构柔顺设计与搬运智能优化研究

In recent years, the concepts of the robot development is changing from “Replacement by robots” to “Coexisting-Cooperative-Cognitive Robotics (Tri-Co Robotics)”; at the same time, the picking mode of “Goods to person (G2P)” has gradually become to be "the new trend of warehousing and logistics in the “Internet plus” era. In view of the lack of operational flexibility, online perception and real-time operation ability in the actual application of warehousing and logistics robots, this project will focus on how to achieve the structural flexible design and intelligent transporting optimization of logistics robots base on a comprehensive examination of the structure, perception and control of warehousing and logistics robot from the perspective of bionics. Flexible joint modeling of logistics robot are expected to be established based on collecting the parameters of human body’s biomechanics; the controllability, adaptability and safety of compliant joints are expected to be realized by the introduction of physical damping coefficient control; On this basis, the performance and efficiency of path planning are expected to be improved effectively based on the improved artificial fish-swarm algorithm. Therefore the flexible grasping and transporting of the warehousing and logistics robot will be realized. This project will provide useful explorations for the application of “Tri-Co Robotics” in the field of warehousing and logistics in China, and the related expected results will also provide theoretical basis and technological supports for the development of China's warehousing and logistics technology.

近年来，机器人的发展理念开始了从“机器换人”到“人机共融”的重要转变，“货到人”的拣选模式也逐渐成为“互联网+”时代物流仓储的新发展趋势。针对目前仓储物流机器人在实际应用中存在的操作灵活性不足、在线感知与实时作业能力弱等问题，本项目拟从仿生学的视角全面审视仓储物流机器人结构、感知和控制，围绕其如何实现仓储物流机器人的操作柔顺化和搬运智能化开展研究：基于人体运动生物力学参数实现物流机器人柔顺关节建模，通过引入物理阻尼系数控制实现柔顺关节的可控性、适应性与安全性，在此基础上基于改进的人工鱼群算法有效地提高路径规划的性能与效率，从而实现仓储物流机器人的柔顺抓取与智能搬运。本项目研究可为我国的仓储物流领域的“共融机器人”应用研究开展有益的探索，相关预期成果也有望会为我国仓储物流技术的发展提供理论基础和技术支持。