一种全回转并联机械手轨迹规划研究  

Study on trajectory planning of a full circle rotational parallel robot

作　　者：倪雁冰[1] 董娜[2] 尘恒 

机构地区：[1]天津大学机构理论与装备设计教育部重点实验室,天津300072 [2]天津大学机械工程学院,天津300072

出　　处：《机械设计》2014年第4期31-37,共7页Journal of Machine Design

基　　金：国家科技支撑计划资助项目(2012BAF01B07)

摘　　要：轨迹规划是机器人运动控制的基础。以一种执行高速PTP操作的3自由度全回转并联机械手为研究对象,规划其操作空间轨迹,保证快速性、光滑性,减小机构磨损和破坏,防止机械手振动,同时兼顾关节空间角加速度、输入力矩等动力学指标,将正弦、多项式及修正梯形3种适合高速机构的运动规律在操作空间相同路径下进行仿真比较,遴选出最优运动规律。仿真结果表明,规划的操作空间轨迹性能优良,满足运动控制需要,轨迹规划方法对构型类似机构具有借鉴意义。Trajectory planning is the basis of robot motion control. A novel full circle rotational 3-DOF parallel robot that car- ries out high speed pick and place operations is taken into re- search, trajectory in operating space is planned to ensure rapidity and smoothness, reduce abrasion and damage of the mechanism, prevent robot from vibration. Dynamics indicators in joint space such as angular acceleration and input torque are taken into ac- count, motion rules of sinusoidal, polynomial and modified trape- zoidal that are suitable for high speed mechanisms are compared in the same paths in operating space. The simulation results show that operating space trajectory has good performance and satisfies the need of motion control, trajectory planning method has special ref- erence to similar mechanisms.

关 键 词：并联机器人 运动学及动力学 轨迹规划 

分 类 号：TH113.2[机械工程—机械设计及理论]