基于345-修正梯形运动规律的4-RR(SS)_(2)并联机器人运动轨迹规划  

Trajectory Planning 4-RR(SS)_(2) Parallel Robot Based on 345-Corrected Trapezoidal Motion Law

作　　者：来海滨 汪满新[1] 刘松涛 黄俊朋 张宇轩 LAI Haibin;WANG Manxin;LIU Songtao;HUANG Junpeng;ZHANG Yuxuan(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China;Chenxing(Tianjin)Automation Equipment Co.,Ltd.,Tianjin 300450,China;Lianyungang Screws Robot Technology Co.,Ltd.,Lianyungang 222000,China)

机构地区：[1]南京理工大学机械工程学院,南京210094 [2]辰星(天津)自动化设备有限公司,天津300450 [3]连云港斯克斯机器人科技有限公司,连云港222000

出　　处：《农业机械学报》2024年第4期411-420,共10页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51605225)。

摘　　要：研究了一种新型四自由度高速并联机器人运动轨迹规划方法。该机器人采用单动平台结构以减轻末端平台质量,提升机器人加减速性能。建立机器人机构运动学逆解模型,通过融合345多项式和梯形运动规律的优点,构造一种可兼顾运动时长和运动平稳性的345-修正梯形运动规律。在此基础上,通过插补叠加轨迹过渡传统门形轨迹的直角部分,并统筹考虑总运动时长最短以及角加速度峰值最小为目标完成插补叠加时机的优选,最后在样机上开展运动频次试验。试验结果显示,采用优化后的运动规律和轨迹样机运动频次可提升至218次/min,工作效率较传统Adept门形轨迹提高55.7%。A novel trajectory planning method for 4-DOF high-speed parallel robot was studied.The robot had a single action platform structure to reduce the weight of the end platform,so it had good acceleration and deceleration performance.The inverse kinematics model of the mechanism was established.By combining the advantages of the 345 polynomial and the trapezoidal motion law,a 345-corrected trapezoidal motion law was constructed that can take into account both the movement duration and the motion stability.On this basis,the right-angle part of the traditional gate-shaped trajectory was transitioned through the interpolation superposition trajectory.Meanwhile,the shortest total motion duration and the minimum angular acceleration peak value were considered as the goal to optimize the timing of the interpolation and superposition.Finally,the motion frequency experiment was carried out on the prototype.Results showed that the motion frequency of the three-stage fusion path prototype can be increased to 218 times/min and its work efficiency was 55.7%higher than that obtained by using the traditional Adept gate-shaped path.This research was of great significance as it could enhance the efficiency of parallel robots in capturing lightweight and scattered materials in production lines across various industries such as consumer electronics,chemical engineering,food processing and pharmaceuticals.The effectiveness of the parallel robots in grasping delicate materials that were scattered was significantly boosted,resulting in improved production output.

关 键 词：高速并联机器人 轨迹规划 345-修正梯形运动规律 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]