新型5R堆垛机构的直线插补算法研究  

Research on Linear Interpolation Algorithm of a New Type of 5R Stacking Mechanism

作　　者：曹晓彦[1] 周浩兵[1] 潘爱琼 陈海涛[1] 

机构地区：[1]郑州科技学院机械工程学院,郑州450064

出　　处：《煤矿机械》2015年第11期16-19,共4页Coal Mine Machinery

基　　金：河南省科技厅科技攻关项目(142102210509);河南省教育厅重点科技攻关项目(14A460015);河南省高校科技创新团队支持计划(2012IRTSTHN013)

摘　　要：研究了并联机构的插补控制方法,用逐点比较法对5R堆垛机构的直线轨迹插补算法进行研究,偏差判别公式用给定起点和终点的直线来表示,结合5R机构运动学分析,以插补脉冲总个数作为终点判别依据,给出了算例和插补程序流程图。In this paper, the interpolation control method of parallel mechanism is studied, Research on the linear track interpolation algorithm of 5R stacking mechanism with point by point comparison method,the deviation discrimination formula is expressed by a straight line with the given starting point and end point,with kinematic analysis of 5R mechanism, and the basis of the total number of the interpolation pulse used as the judgment of the end, a numerical example and an interpolation program flow chart are given.

关 键 词：插补算法 5R 堆垛机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]