摘要
六自由度绳索悬挂式并联机器人属于大柔性机械系统,为保证运动的平稳性,要求动平台的运动轨迹光滑连续,为此提出了基于摆线运动规律的笛卡儿空间连续轨迹规划方法,该方法计算简单,实时性好。利用该方法对直线轨迹、圆轨迹和过离散点轨迹进行了规划。运动学和动力学方程的计算结果表明,绳索的速度、加速度和拉力变化连续平缓,而且绳索拉力始终大于0,因此动平台运行过程中动态响应小,绳索张紧可靠。该方法适用于悬索机器人的轨迹规划,同样也适用于对运动平稳性要求较高的其它机器人系统。
The 6 DOF cable-suspended parallel robot be longs to mechanical system of large flexibility. For the sake of ensuring a motion steadiness it needs the motion trajectory of moving platform to be smooth and continuous, thus the planning method of continuous tra）ectory in Cartesian space was put forward based on cycloidal motion law. This method was simple in calculation and with a good real-time control. By the use of this method a trajectory planning has been carried out on path of straight line, path of circle and path passing through dispersed points. The calculation result of kinematics and dynamics equations shows that the variations of velocity and acceleration of cable and of pulling force are continuous and gentle, but also the pulling force of cable is greater than zero from beginning to end, hence the dynamic response is small during the operation course of moving platform and the cable is both tense and reliable. This method is suitable for trajectory planning of suspension-cable robot, and is suitable as well for other robotic systems that need a rather higher motion steadiness.
出处
《机械设计》
CSCD
北大核心
2006年第9期21-24,共4页
Journal of Machine Design
基金
国家"九五"重大科学工程项目"大天区面积多目标光纤光谱望远镜"(LAMOST)
关键词
悬索并联机器人
轨迹规划
摆线运动
suspended-cable parallel robot
trajectory planning
cycloidal movement
