并联式钢坯修磨机器人动力学及轨迹规划研究

STUDY ON DYNAMICS AND TRAJECTORY PLAN OF IN PARALLEL BILLET SNAGGING ROBOT

介绍了一种新型的并联式钢坯修磨机器人机构，并对其运动学和动力学进行了分析和计算，给出了它们的显示解．在对修磨轨迹的规划中，采用四次多项式曲线和回旋曲线．

This paper introduces a novel of in parallel billet snagging robotic mechanism, and analyzes kinematics and dynamics, gives out the explicit solution. The forth order ploynomial and clothoid is applied for the snagging path planning. Finally, use computer to simulate.