高速并联机械手最优时间轨迹规划及实现  

High-Speed Parallel Manipulator Optima Time Trajectory Planning and Implement

作　　者：张勇[1] 张宪民[1] 胡俊峰[1] 洪始良[1] 管贻生[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510640

出　　处：《机电工程技术》2010年第10期42-45,共4页Mechanical & Electrical Engineering Technology

基　　金：国家自然科学基金(编号:50775073);国家自然科学基金-广东联合基金(编号:U0934004)

摘　　要：以一种新型二维平动两自由度并联机械手为研究对象,为满足机械手高速精确平滑工作的要求,在关节空间进行了三次样条插值轨迹规划,并在考虑关节速度和加速度等约束条件下运用遗传算法对各分段轨迹时间间隔进行了优化。理论和实验结果表明,该轨迹规划方法能够满足工作要求。Motion control of a novel 2-dimensional and 2-DOF translational parallel manipulator is presented in this paper.Akind of effective path planning method in the joint space isgiven with cubic spline interpolation in order to achieve the operating manipulator trajectory high-speed,high-precision and smooth,while the time intervals between each key point in joint space are planned with genetic algorithm in considering the constraints of joint velocity and acceleration.Theoretical and experimental results show that the trajectory planning methodcan meet the job requirements.

关 键 词：并联机械手 轨迹规划 遗传算法 运动控制 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]