An improved RRT path planning method for plastering robotic arm manipulation in refractory bricklaying

DUAN Mengcheng; ZHENG Zhengding; GAO Quanjie; WANG Hongxia

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An improved RRT path planning method for plastering robotic arm manipulation in refractory bricklaying

更新时间：2026-04-13

- An improved RRT path planning method for plastering robotic arm manipulation in refractory bricklaying
- Journal of Mechanical Transmission Pages: 1-10(2026)
- 作者机构：
  
  1.武汉科技大学冶金装备及其控制教育部重点实验室，武汉 430081
  2.武汉科技大学机械传动与制造工程湖北省重点实验室，武汉 430081
  3.湖北汽车工业学院汽车智能制造学院，十堰 442002
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP241;TP18
- Received：26 November 2025，
  
  Online First：13 April 2026，
- 稿件说明：
移动端阅览
段梦成，郑正鼎，高全杰，等.面向耐火砖砌筑的改进RRT涂抹机械臂路径规划方法［J］.机械传动，XXXX，XX（XX）：1-10.

DUAN Mengcheng，ZHENG Zhengding，GAO Quanjie，et al.An improved RRT path planning method for plastering robotic arm manipulation in refractory bricklaying［J］.Journal of Mechanical Transmission，XXXX，XX（XX）：1-10.
段梦成，郑正鼎，高全杰，等.面向耐火砖砌筑的改进RRT涂抹机械臂路径规划方法［J］.机械传动，XXXX，XX（XX）：1-10. DOI：

DUAN Mengcheng，ZHENG Zhengding，GAO Quanjie，et al.An improved RRT path planning method for plastering robotic arm manipulation in refractory bricklaying［J］.Journal of Mechanical Transmission，XXXX，XX（XX）：1-10. DOI：

摘要

目的

对于耐火砖砌筑中特异性砖体形态复杂、作业空间受限等特殊工况，传统方法在涂抹异形砖体表面时存在规划效率低、轨迹平滑性差及路径代价高等不足。为此，提出一种改进快速探索随机树（Rapidly-exploring Random Tree

RRT）算法，对涂抹机械臂的路径规划问题进行研究。

方法

通过分区高斯采样，增强对关键区域的搜索导向；采用引力动态调节步长，实现狭窄空间中的自适应探索；并引入三角不等式剪枝与三次B样条优化，去除冗余节点，提升轨迹平滑度。

结果

仿真结果表明，改进RRT算法在规划时间、路径长度、路径节点数及迭代次数方面均优于对比算法。实物试验验证中，该改进RRT算法在砌筑环境下可实现平稳避障与涂抹作业，其规划时间较传统RRT、RRT*、Bias-RRT和RRT-Connect分别缩短70.80%、80.54%、29.12%和22.24%；路径长度分别缩短31.26%、3.52%、22.62%和30.10%，展现了良好的工程适用性。

Abstract

Objective

In response to special working conditions such as complex shapes of specific bricks and limited operating space in refractory bricklaying

traditional methods exhibit shortcomings in plastering irregularly shaped brick surfaces

including low planning efficiency

poor trajectory smoothness

and high path cost. To address these issues

an improved rapidly-exploring random tree (RRT) algorithm was proposed to study the path planning problem for plastering robotic arms.

Methods

Partitioned Gaussian sampling was employed to enhance search focus on critical areas. Gravity-based dynamic step size adjustment was adopted to enable adaptive exploration in confined spaces. Triangular inequality pruning and cubic B-spline optimization were introduced to eliminate redundant nodes and improve trajectory smoothness.

Results

Simulation results demonstrate that the improved RRT algorithm outperforms comparison algorithms in planning time

path length

path node count

and iteration count. Physical tests validate the improved RRT algorithm’s capability for stable obstacle avoidance and plastering operations in masonry environments. Compared to traditional RRT

RRT*

Bias-RRT

and RRT-Connect

its planning time decreases by 70.80%

80.54%

29.12%

and 22.24%

respectively

while reducing path length by 31.26%

3.52%

22.62%

and 30.10%

respectively

demonstrating excellent engineering applicability.

关键词

Keywords

references

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