摘要
针对一种新型6-PPPS并联机器人,给出了表达姿态的一种新方法——驱动姿态参数法,给出了驱动姿态空间的概念,并提出基于驱动姿态空间的姿态路径规划方法。该方法可以保证机构的姿态变化始终在机构的许可姿态范围内。针对姿态路径,采用关节空间轨迹规划,求出了满足姿态路径的关节轨迹规划的约束条件。
Aiming at a new type 6 - PPPS parallel robot, a new way for attitude expression is proposed in this paper. The definition of driving attitude - space is given at the same time. The method of attitude path planning is proposed based on the driving attitude - space. The method can guarantee the attitude fluctuation with in the allowance range. To deal with the attitude path, the constraint conditions of satisfying the path is solved by the trajectory planning of joint space.
出处
《机械设计与研究》
CSCD
北大核心
2007年第3期62-65,共4页
Machine Design And Research
基金
国家自然科学基金资助项目(60534020)
国家973重点基础研究发展计划资助项目(2006CB705400)
