一种高速并联机器人的运动学建模与轨迹规划仿真  

Kinematics modeling and trajectory planning simulation of high speed parallel robot

作　　者：张家琪 马跃 张智涛 李彬 刘祺[1,2] ZHANC Jiaqi;MA Yue;ZHANG Zhitao;LI Bin;LIU Qi(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,School of Mechanical Engineering,Tianjin University of Technology,Tianjin 300384;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,School of Mechanical Engineering,Tianjin University of Technology,Tianjin 300384;Tianjin Yangtian Technology Co.,Ltd.,Tianjin 300190)

机构地区：[1]天津理工大学机械工程学院,天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]天津理工大学机械工程学院,机电工程国家级实验教学示范中心,天津300384 [3]天津扬天科技有限公司,天津300190

出　　处：《机械设计》2023年第9期43-48,共6页Journal of Machine Design

基　　金：国家自然科学基金项目(52205029,52205030);天津理工大学大学生创新创业训练计划项目(202010060010)。

摘　　要：以一种可实现高速运动的4自由度并联机器人为研究对象,采用矢量法建立了机器人运动学逆解模型,并提出了具有显示表达式的运动学正解解析解法,因无需迭代而具有较高的计算效率。采用4种运动规律分别规划末端抓放路径,并对比分析了关节角加速度与角跃度随时间的变化规律。在此基础上,提出了基于SAMCEF的机器人刚柔耦合仿真流程,并分析了不同运动规律的残余振动幅值变化,为优选可兼顾关节驱动力矩平滑性与末端残余振动收敛性的运动规律提供了解决思路。In this article,with the focus on the 4-DOF high-speed parallel robot,the vector method is used to set up the inverse-kinematics model,and the analytical algorithm of forward kinematics with explicit expression is worked out,which has high computational efficiency because iteration is not needed.The grasping and releasing paths at the end are planed with the help of four motion rules,and the laws of each joint's angular acceleration and jerk changing with time are compared and analyzed.Then,the rigid-flexible coupling simulation process for this robot based on SAMCEF is proposed and the amplitude variation of residual vibration in line with different motion laws is simulated.This study provides ideas for selecting the motion laws that seek a balance between the smoothness of the joint's driving torque and the convergence of residual vibration at the end.

关 键 词：高速并联机器人 运动学分析 轨迹规划 

分 类 号：TH122[机械工程—机械设计及理论]