考虑跃度影响的四自由度并联机构轨迹规划

中国机械工程 ›› 2014, Vol. 25 ›› Issue (6): 784-788.

考虑跃度影响的四自由度并联机构轨迹规划

路松;赵永杰;何俊;陈少波

汕头大学,汕头,515063

出版日期:2014-03-26 发布日期:2014-04-11
基金资助:
国家自然科学基金资助项目(50905102,51375288);广东省自然科学基金资助项目(10151503101000033)；汕头大学学术创新团队建设科研基金资助项目(ITC10003)

Trajectory Planning of a 4-DOF Parallel Kinematic Manipulator While Considering Jerk Impact

Lu Song;Zhao Yongjie;He Jun;Chen Shaobo

Shantou University,Shantou,Guangdong,515063

Online:2014-03-26 Published:2014-04-11
Supported by:
National Natural Science Foundation of China（No. 50905102,51375288）;Guangdong Provincial Natural Science Foundation of China（No. 10151503101000033）

摘要/Abstract

摘要：

以一种四自由度3PUS-P-RU并联机构为研究对象,首先利用运动链矢量方程法建立机构的跃度逆解模型,然后揭示了动平台运动过程中没有刚性冲击和柔性冲击的七次多项式运动规律，最后通过运动学逆解计算得到各个关节的运动轨迹。计算结果表明,该运动轨迹下各个关节的速度、加速度和跃度曲线平滑连续且没有突变，运动特性优越，轨迹规划方法有效。

关键词: 跃度, 冲击, 并联机构, 轨迹规划

Abstract:

Taking a 4-DOF 3PUS-PRU parallel manipulator as the object of study,an inverse jerk model of the manipulator was presented with the kinematic chain vector equations. A 7-order polynomial curve was proposed without rigid shock and soft shock existing in the platform motion. The joints' movement was calculated through the inverse kinematics. The simulation results show that the joints' curves of position, velocity, acceleration and jerk with time are smooth and continuous without any dithering, thus the motion characteristics of manipulator is superior and the method of trajectory planning is feasible.

Key words: jerk, shock, parallel kinematic manipulator, trajectory planning

中图分类号:

TH112

路松, 赵永杰, 何俊, 陈少波. 考虑跃度影响的四自由度并联机构轨迹规划[J]. 中国机械工程, 2014, 25(6): 784-788.

Lu Song, Zhao Yongjie, He Jun, Chen Shaobo. Trajectory Planning of a 4-DOF Parallel Kinematic Manipulator While Considering Jerk Impact[J]. China Mechanical Engineering, 2014, 25(6): 784-788.

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