六自由度曲面加工的并联机器人轨迹规划  

Surface processing of 6-DOF parallel robot in trajectory planning

作　　者：高国琴[1] 胡红玉[1] 胡陟[1] 

机构地区：[1]江苏大学电气信息工程学院,镇江212013

出　　处：《机械设计与制造》2010年第5期167-168,共2页Machinery Design & Manufacture

摘　　要：在对六自由度并联机器人运动学分析的基础上,对其进行了腔型圆弧面的轨迹规划。通过位置反解函数得到了平台在按给定圆弧面轨迹运动时六连杆的运动情况。对Microsoft Visual C++6.0工具开发的数控加工软件及机构系统配置的运动控制卡PMAC的运用,完成所要求的圆弧曲面的轨迹点的编程,生成相应的圆弧曲面,这正顺应了现在开放式数控系统的发展趋势。A circular trajectory is planned after analyzing the Six-DOF Parallel Mechanism.We get the movement of six-bar when the platform in accordance with a given circular track through the location of the anti-solution function.By use of Microsoft Visual C＋＋ 6.0 tools developed CNC machining system configuration software and institutions of PMAC motion control card,the required arc curved trajectory is programmed to generate the corresponding arc surface,which is the opening CNC system trends recently.

关 键 词：六自由度并联机构 轨迹规划 曲面加工 数控系统 

分 类 号：TH16[机械工程—机械制造及自动化]