风洞四自由度并机器人奇异路径优化分析  

Optimization Analysis of Four DOFs Parallel Robot Singular Path for Wind tunnel experiment platform

作　　者：刘方[1,2] 谭兴强[2] 贾淑媛[2] 

机构地区：[1]西华大学机械工程与自动化学院,四川成都610039 [2]攀枝花学院机械工程系,四川攀枝花617000

出　　处：《科技创新导报》2014年第10期38-39,共2页Science and Technology Innovation Herald

摘　　要：奇异位形是机器人机构的一个十分重要的运动学特性,机器人的运动、受力、控制精度等方面的性能都与机构的奇异位形密切相关。该文对风洞四自由度并联机器人奇异位形进行了研究,使得机器人动平台能够平滑地绕开奇异点且能够获得最短路径,并建立了奇异位形优化方程。最后通过MATLAB仿真得出优化后的轨迹。Singular position was a very important kinematics feature of robot mechanism,singular position of robot mechanism was closely related to robot performance,such as movement,force,control accuracy,etc.In this paper,four-freedom degree parallel robot singular position was studied,so that the robot could smoothly bypass the singularity and the shortest path could be obtained,and a singular position optimization equation was established.Finally,the optimized simulation trajectory was obtained by matlab.

关 键 词：机器人 奇异点 奇异路径 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]