3自由度并联机器人运动学及轨迹规划研究

Kinematics and Trajectory Planning of 3-DOF Planar Parallel Manipulators

论述了3自由度平面并联机器人的6种基本结构类型:RRR、PRR、RPR-Ⅰ、RPR-Ⅱ、RRP和PRP,以及其运动学求解的共性和个性问题.以RPR-Ⅱ型并联机器人为例采用MATLAB6.1完成了其轨迹规划器的设计,实现了系统中任何构件在运动过程的位移、速度、加速度到关节力、驱动力的图线输出,并提出了采用直线加抛物线过渡仍可满足给定起始点和目标点速度要求的轨迹规划方法.

The classification of 3-DOF planar parallel manipulators is conducted in this paper first, as well as the structure of the six basic categories, i.e. RRR, PRR, RPR_ I, RPR- II, RRP and PRP. Then, their kinematic models, forward direction and backwardness, are all provided besides the introduction to their common properties and characteristic attributes. Furthermore, the construction of trajectory planning software for Mode RPR_II is performed as an example with MATLAB 6.1. All information in the system, including displacement, velocity, acceleration and joint resistances as well as driving forces, are expressed in figures or tables. Finally, in order to meet the continuity of velocity at the two end of a stroke, a new method to plan a trajectory with a linear equation in addition to two parabolas at the two ends is also involved.