高速并联机械手抓放轨迹规划方法  

Pick and place trajectory planning of high-speed parallel manipulator

作　　者：段晓斌[1] 项忠霞[1] 罗振军[2] 梅江平[1] DUAN Xiao-bin;XIANG Zhong-xia;LUO Zhen-jun;MEI Jiang-ping(Key Laboratory of Machinery Theory and Equipment Design,Ministry of Education,Tianjin University,Tianjin 300355;Institute of Mechanical and Electrical Engineering,Hangzhou Wahaha Group Co.,Ltd.,Hangzhou 310020)

机构地区：[1]天津大学机构理论与装备设计教育部重点实验室,天津300355 [2]杭州娃哈哈集团有限公司机电研究院,浙江杭州310020

出　　处：《机械设计》2018年第8期7-12,共6页Journal of Machine Design

基　　金：国家自然科学基金重点课题资助项目(51135008)

摘　　要：在高速并联机械手门形抓放路径的基础上,阐述了在操作空间中用Gutman运动规律进行轨迹规划的方法。针对所述轨迹规划方法在运动始末端存在跃度突变,导致柔性冲击的问题,提出了一种基于Gutman运动规律的修正梯形加速度曲线的轨迹规划方法。以一种2自由度高速并联机械手为研究对象,通过运动学逆解和试验对比分析这两种轨迹规划方法的运动特征,结果表明:基于Gutman运动规律的修正梯形加速度曲线的轨迹规划方法所得到的跃度曲线没有突变,运动特性更优。On the basis of the gate-shaped pick and place path of high-speed parallel manipulator, the trajectory planning based on the Gutman motion law in the operating space is illustrated. By means of the trajectory planning, there is kind of jerk mutation on the motion beginning-and end-side, which results in the flexible impact. Thus, the modified trapezoid acceleration curve based on the Gutman motion law is proposed. The study is based on a 2-DOF high-speed parallel manipulator, and a comparison of the motion characteristics of these two types of trajectory planning is conducted by means of the inverse kinematics and experiment. The result shows that thanks to the trajectory planning, the modified trapezoid acceleration curve based on the Gutman motion law is free from the mutation of jerk curve, and has superior motion characteristics.

关 键 词：并联机械手 轨迹规划 Gutman运动规律 跃度 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]