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以柔顺关节并联机器人系统为研究对象,对其运动规划问题进行研究。根据柔顺关节特性,建立系统分析模型,基于拉格朗日方法建立系统动力学方程。为保证系统平稳运行,抑制惯性力的变化速度,应用梯形和S型速度规划方法进行运动规划,并给出了直线轨迹和圆轨迹的运动规划算法。仿真试验结果验证了运动规划方法的有效性。
Taking the soft joint parallel robot system as the research object, the motion planning problem is studied. According to the characteristics of compliant joints, a system analysis model is established and a system dynamics equation is established based on Lagrange method. In order to ensure the smooth running of the system and to suppress the change of inertia force, the motion planning is carried out by trapezoidal and S-shaped velocity planning methods. The motion planning algorithms of straight line trajectories and circular trajectories are given. The simulation results verify the effectiveness of the motion planning method.