摘要
研究一种基于双极坐标的并联机械臂的圆弧插补算法。该算法采用逐点比较法原理,通过转动两并联机械臂转角的方式实现圆弧插补,重点给出转角转动的方向和条件,并给出了递推公式。分析方法和公式采用了双极坐标的方式。
A circular interpolation algorithm based on bipolar-coordinate parallel manipulator is studied. According to comparing point by point interpolation principle, a circular interpolation is realized by rotated parallel manipulator angles. Directiones and conditions of rotated angle are pointed emphatically. Recurrence formula are raised. Analysis and formusa based on bipolar-coordinate.
出处
《煤矿机械》
北大核心
2013年第1期81-83,共3页
Coal Mine Machinery
基金
2011年河南省科技攻关项目(003207)
关键词
并联机械臂
双极坐标
逐点比较法
圆弧插补
parallel manipulator
bipolar-coordinate
comparing point by point
circular interpolation
