Trajectory Planning of Crossed Roller Bearing Automatic Assembly Robotic Arms Based on the Improved Gray Wolf Optimizer
Hu Jiangtao
Dang Yugong
Zhou Zhigang
Zhang Yupeng
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 bear-ings.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 com-bined with the beetle antennae search(BAS)algorithm.It can avoid falling into the local optimization and im-prove 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 effi-ciency 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 bearingRobotic armTrajectory planningImproved gray wolf optimizer(IGWO)
Publication Date：2024-11-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 71-78 )