基于Matlab图像识别的Delta并联机械手连续轨迹规划  

Continuous Trajectory Planning for Delta Parallel Manipulator Based on Matlab Image Recognition

作　　者：刘亚男[1] 张承瑞[1] 郎需林[1] 仲斐 张聪[1] 

机构地区：[1]山东大学机械工程学院,山东济南250061

出　　处：《机床与液压》2014年第15期54-56,共3页Machine Tool & Hydraulics

摘　　要：将Matlab图像处理技术与Delta并联机械手连续轨迹规划结合,并利用C#软件精确计算出连续轨迹中每个点的坐标,将这些坐标导入Pro/E软件中,成功模拟出了Delta并联机器人的连续运动,并采用Pro/E软件进行运动学、动力学分析。The Matlab image recognition processing technique and continuous trajectory planning for Delta parallel manipulator were combined,and then the coordinates of each point in the continuous trajectory were calculated accurately by taking advantage of C#software.By importing these data into Pro/E software,the continuous motion of the Delta parallel manipulator was simulated success-fully.Finally,do kinematics and dynamics analysis with the help of Pro/E software.

关 键 词：MATLAB图像处理 Delta并联机械手 PRO E运动仿真 轨迹规划 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]