UVW对位平台运动轨迹规划及实验  

Trajectory Planning and Experiment of UVW Alignment Platform Mechanism

作　　者：程建 邹大鹏 杨志军[1] 李伟林 张安邦 CHENG Jian;ZOU Dapeng;YANG Zhijun;LI Weilin;ZHANG Anbang(Guangdong Provincial Key Lab of Computer Integrated Manufacturing,Guangdong University of Technology,Guangzhou Guangdong 510006,China)

机构地区：[1]广东工业大学广东省计算机集成制造重点实验室,广东广州510006

出　　处：《机床与液压》2019年第8期146-150,共5页Machine Tool & Hydraulics

基　　金：广东省省级科技计划项目(2015B010104006;2017A010102012);广东自然科学基金研究团队项目(2015A030312008)

摘　　要：为提高触摸屏机械对位平台的贴合精度和效率,对直线电机UVW共平面机械对位平台进行机构运动学分析。运用几何法求解机构位置反解,为平台定位提供理论计算依据;通过MATLAB软件求解机构位置正解,以此为理论依据,仿真求得平台工作空间大小;研究最短轨迹和最小时间轨迹规划算法,并通过实验验证了平台极限轨迹和工作空间与仿真结果一致。以视觉检测平台对不同轨迹规划的速度和时间进行实验验证,证明了该轨迹规划对于提高触摸屏机械对位平台贴合性能的合理性和可行性。To improve accuracy and efficiency of current touch screen mechanical alignment platform, the kinematic analysis for the linear motor UVW coplanar mechanical alignment platform was carried out. The geometric method was used to solve the inverse kinematics of the mechanism, which provided a theoretical basis for the platform positioning. Through MATLAB software, the positive position of the mechanism was solve. On this basis, the workspace size of the platform was simulated, and the shortest path and minimum time trajectory planning algorithms were studied. The results show that the limit trajectory and workspace of the platform are consistent with the simulation results. The speed and time of different trajectory planning methods were tested and verified by visual inspection platform. It is proved that the trajectory planning is reasonable and feasible to improve the bonding performance of touch screen mechanical contraposition platform.

关 键 词：贴合机 UVW平台 轨迹规划 工作空间 

分 类 号：TN873.93[电子电信—信息与通信工程]