Trajectory Planning of a Curtain Wall Installation Robot Based on Biomimetic Mechanisms

原文アブストラクト

As the robotics market rapidly evolves, energy consumption has become a critical issue, particularly restricting the application of construction robots. To tackle this challenge, our study innovatively draws inspiration from the mechanics of human upper limb movements during weight lifting, proposing a bio-inspired trajectory planning framework that incorporates human energy conversion principles. By collecting motion trajectories and electromyography (EMG) signals during dumbbell curls, we construct an anthropomorphic trajectory planning that integrates human force exertion patterns and energy consumption patterns. Utilizing the Particle Swarm Optimization (PSO) algorithm, we achieve dynamic load distribution for robotic arm trajectory planning based on human-like movement features. In practical application, these bio-inspired movement characteristics are applied to curtain wall installation tasks, validating the correctness and superiority of our trajectory planning method. Simulation results demonstrate a 48.4% reduction in energy consumption through intelligent conversion between kinetic and potential energy. This approach provides new insights and theoretical support for optimizing energy use in curtain wall installation robots during actual handling tasks.