绳牵引并联机构末端执行器运动轨迹规划  

Planning on motion trajectory of end actuator of cable-driving parallel mechanism

作　　者：侯泽群 杨芳[1,2] 薛玉君[1,2,3] 李航 彭程[1] HOU Zequn;YANG Fang;XUE Yujun;LI Hang;PENG Cheng(School of Mechatronics Enginering,Henan University of Science&Technogy,Luyang 47003,Henan,China;Henan Key Laboratory for Machinery Design&Transmission System,Luoyang 471003,Henan,China;State Key Laboratory of Mining Heavy Equipment,Luoyang 471039,Henan,China)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003 [2]河南省机械设计及传动系统重点实验室,河南洛阳471003 [3]矿山重型装备国家重点实验室,河南洛阳471039

出　　处：《矿山机械》2022年第8期50-56,共7页Mining & Processing Equipment

基　　金：国防基础科研计划(JCKY2019419D001);河南省科技攻关项目(202102210078);河南省教育厅自然科学研究项目(19A460017)。

摘　　要：针对传统插值法离散轨迹规划连续性差、运动参数突变的缺点,研究了一种改进多项式的末端执行器运动轨迹规划方法,通过优化末端执行器速度曲线,结合最小二乘法改善离散规划点之间的过渡过程,以提高运动的平滑性及连续性。基于联合仿真模型进行了仿真分析,并通过了试验验证,结果表明:采用改进多项式法优化后,直线电动机速度曲线平滑,启停次数减少了 50%,避免了频繁启停带来的冲击;末端执行器运动轨迹连续平滑,运行时间减少了约 20%。In view of the shortcomings of poor continuity and sudden change of motion parameters of discrete trajectory planning obtained with traditional interpolation method,a motion trajectory planning method based on improved polynomial method was studied.After the velocity curve of the end actuator being optimized,the transition process among discrete planning points was improved in combination with the least square method,so as to improve the motion smoothness and continuity.Based on the joint simulation model,the simulation and analysis were conducted,and the test verification was carried out also.The results showed:after the optimization with the improved polynomial method,the velocity curve of the linear motor was smoother,the starting and halting frequency reduced by 50%,thus the impact caused by frequent starting and halting was avoided;the motion trajectory of the end actuator was continuous and smooth,thus the running duration reduced by about 20%.

关 键 词：绳牵引并联机构 末端执行器 轨迹规划 联合仿真 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]