高速并联机械手PTP动作优化设计

Optimization Design of Trajectory Planning of a High-speed Parallel Manipulator

高速并联机械手轨迹规划的目标为在给定位移与最大加速度的前提下,优化其末端执行器的运动轨迹,使得其运行时间和机械振动趋于最小。本文介绍了一种修正梯形的运动规律,并针对机械手PTP操作的典型工况作柔性路径优化,确定出了一种适合高速并联轻型机械手快速高精度PTP操作的最佳运动轨迹。

Trajectory planing of a high-speed parallel manipulator＇s goal is to optimize its end effector trajectory on the basis of accepting this premise that displacement and maximum acceleration is given, trying to minimize its operation time and mechanical vibration. This paper introduces a modified trapezoidal motion rule and points out the most suitable trajectory for fast high-precision PTP operation of high-speed parallel manipulator, which is mainly for flexible path optimization in typical PTP operation of mechanical hand.