Par4并联机器人轨迹规划研究  

Trajectory Planning of Par4 Parallel Manipulators

作　　者：陈娟[1] 明正峰[1] 梁锦涛[1] CHEN Juan MING ZhengFeng LIANG JinTao(Xidian University, Xi＇ an, 710071)

机构地区：[1]西安电子科技大学

出　　处：《电子世界》2017年第5期82-84,共3页Electronics World

摘　　要：研究了Par4并联机器人操作空间的轨迹规划算法。分析了Par4并联机器人机械结构,采用几何分析法得出其运动学模型。采用了SCCA凸轮运动模式进行速度规划。在操作空间中将直线插补和圆弧插补运用于并联机器人末端轨迹规划。将两种插补规划运用于Par4并联机器人,并在MATLAB2010a中进行仿真分析,验证了两种轨迹规划应用于Par4并联机器人的可行性和合理性,为机器人的运动控制控制提供理论基础。The trajectory planning algorithm of Par4 parallel manipulator operating space is studied. The mechanical structure of Par4 parallel ro- bot is analyzed, and its kinematics model is obtained by geometric analysis. The SCCA cam motion mode is used for velocity planning. Horizontal interpolation and circular interpolation are applied to the parallel robot trajectory planning in the operating space. The two interpolation schemes are applied to the Par4 parallel robot, and the simulation analysis is carried out in MATLAB2010a. The feasibility and rationality of the two kinds of trajectory planning in Par4 parallel robot are verified, which provide the theoretical basis for the motion control and control of the robot.

关 键 词：Par4并联机器人 运动学分析 速度规划 位置规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]