Inverse solution optimization and research on Trajectory Planning of cleaning manipulator for insulator

Railway catenary insulators are an important component of electrified railway, and it is becoming increasingly necessary to cleaning. For six degree of freedom manipulator cleaning automatically catenary insulators is analysed with D-H method and researched about kinematic and trajectory planning. Motion and trajectory of cleaning manipulator's mathematical model and theoretical support is established. About the situation of multiple solutions is optimized by energy optimization rule to save energy, and quantitative analysis about Optimized energy consumption. The manipulator's trajectory on Cartesian Space is simulated and analysed. The Basement is built that the solution of positive and inverse kinematics, trajectory optimization, collision-free trajectory and the actual manipulator's working space.