摘要
设计了一种2自由度大承载摇摆台,建立其数学模型,研究其运动学逆解;在此基础上,对其进行轨迹规划。最后采用正弦方法,并通过仿真验证轨迹规划的有效性。该研究为2-DOF摇摆台的控制与轨迹误差跟踪奠定了一定的理论基础。
2-DOF heavy swaying platform was designed,its mathematical model was established and its inverse solution of kinematics was investigated.Based on this,its trajectory was planned.Finally,by using the sine curve method and simulation,the validity of trajectory planning was testified.The research has laid a certain theoretical foundation for further study of the control of 2-DOF heavy swaying platform and its trajectory tracking error.
出处
《机械设计》
CSCD
北大核心
2011年第2期58-60,93,共4页
Journal of Machine Design
基金
天津市自然基金自主资助项目(08JCYBJC01200)
机械系统与振动国家重点实验室开放课题资助项目(MSV201022)
河北省教育厅科研基金资助项目(2007403)
关键词
并联机构
自由度
逆运动学
轨迹规划
摇摆台
parallel mechanism
degree of freedom
inverse kinematics
trajectory planning
swaying platform
