高速并联机械手最优加减速控制算法研究  

The Optimal Acceleration-Deceleration Control Research of High-Speed Parallel Manipulator

作　　者：王云飞[1] 郎需林[1] 张承瑞[1] 张德辉[1] 

机构地区：[1]山东大学机械工程学院,山东济南250061

出　　处：《机械设计与制造》2014年第11期85-88,共4页Machinery Design & Manufacture

基　　金：国家高档数控机床专项(2012ZX04010-021)

摘　　要：针对DELTA并联机械手的振动与冲击问题,提出一种适用于DELTA并联机械手P-A-P(pick and place)拾取轨迹的梯形加速度算法。该算法采用高次多项式为过渡曲线并考虑端点处的边界条件,与电机控制中常用的修正梯形、正弦和多项式加减速算法相比,能在满足并联机械手高速运行的情况下,尽可能地减小末端执行器的振动和电机轴的冲击。通过虚拟样机仿真,测得末端加速度和电机轴扭矩曲线,并与修正梯形加减速算法的结果进行比较,证明该算法在减小末端冲击和振动方面具有更大的优越性,满足机械手的要求。To overcome the problems of DELTA parallel manipulator in vibration and shock, it presents a kind of trapezoidal acceleration-deceleration algorithm adapt to the P-A-P （pick and place） trajectory of DELTA parallel manipulator. This algorithm uses high order polynomial as transitional curve and considers the boundary conditions of endpoints. Comparing with some commonly used acceleration-deceleration algorithm in motor control, such as modified trapezoidal curve, sine curve and trapezoidal curve, this algorithm can reduce the vibration of end-effectov and the shock to motor shaft as much as possible when the manipulator is moving in high speed motion~ Using virtual prototype technology to get the acceleration curve of end effector and the torque curve of motor shaft, and compare with the result of modified trapezoidal algorithm, it can be proved that the algorithm has more advantages and fits for the martiDulator.

关 键 词：DELTA并联机械手 高阶多项式曲线 修正梯形曲线 虚拟样机仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]