柔性并联机器人系统的运动规划  

Kinematics planning of flexible parallel robot system

作　　者：王文利[1] 曹鸿钧[2] 

机构地区：[1]深圳信息职业技术学院信息技术研究所,广东深圳518172 [2]西安电子科技大学机电工程学院,陕西西安710071

出　　处：《西安电子科技大学学报》2014年第6期126-130,共5页Journal of Xidian University

基　　金：国家自然科学基金资助项目(51175398);深圳市知识创新计划资助项目(JCYJ20130401095947227)

摘　　要：针对500m口径大射电望远镜馈源支撑并联机器人存在悬索速度突变,导致舱体动态响应影响定位精度的问题,提出了柔性并联机器人系统的运动规划方法.为实现索长与索速度的同时控制,采用机器人关节规划理论的启发式策略生成离散点处的悬索速度;为保证离散点之间索速度与索加速度的连续性,提出了一种三次-四次多项式混合插值规划方法.研究结果表明,该运动规划方法生成的索长和索速度数据变化平滑,插值精度满足大射电望远镜的要求,可以解决因索速度突变造成的舱体动态响应和定位精度问题.Aiming at the problem of the cabin’s dynamic response and positioning accuracy of the Five-hundred-meter Aperture Spherical Telescope caused by the mutation of the cables speed,the kinematics planning method for the flexible parallel robot system is proposed.For accurately controlling the length and speed of cables at the same time,the heuristic strategy of robot joint planning theory is used to produce the cables speed data of discrete points.A hybrid algorithm combining the 3rd and 4th interpolation is proposed to achieve the continuous speed data and the continuous acceleration data between discrete points.The study result shows that the planning data of cables length and cables speed are smooth and that the interpolation accuracy satisfies the need of the Five-hundred-meter Aperture Spherical Telescope. This kinematics planning method can solve the problem of the cabin’s dynamic response and the positioning accuracy caused by the mutation of the cable speed.

关 键 词：大射电望远镜 并联悬索 运动规划 机器人 插值 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]