五杆并联机器人运动轨迹插补计算  

The Interpolation Algorithm of Five-bar Parallel Robot Trajectory

作　　者：孙涛[1] 方漪[2] 

机构地区：[1]青岛大学信息工程学院,山东青岛266071 [2]青岛大学软件技术学院,山东青岛266061

出　　处：《青岛大学学报（自然科学版）》2010年第4期65-68,78,共5页Journal of Qingdao University(Natural Science Edition)

摘　　要：研究了两自由度的五杆并联机器人运动轨迹的插补问题,提出了一种小直线增量步长算法,利用雅各比矩阵按照给定误差要求实现运动轨迹的插补算法。并且提出了一种,利用通用数控系统实现五杆并联机器人运动的方法。插补算法在仿真实验的基础上,在Mach3系统上实现了样机实验,取得了预期的结果。The interpolation problems of five-bar parallel robot＇s trajectory with 2-DOF is studied in this paper.An algorithm which can get incremental step through small line is proposed.The interpolation algorithm of the trajectory is achieved according to the given error requirement by using the Jacoby matrix.A method to realize the movement of the five-bar parallel robot with the usual control system is put forward.The implement of prototype experiment is realized on the Mach3 system,which is based on the above proposed algorithm with the simulation experiment.The expected results is obtained.

关 键 词：并联机器人 插补算法 运动轨迹 

分 类 号：TP391.8[自动化与计算机技术—计算机应用技术] TP391.9[自动化与计算机技术—计算机科学与技术]