新型串并联机器人机械避障研究

A Study on Avoiding Obstacle for a New Type of Series-Parallel Mechanism

在冗余度串并联机构运动学分析基础上，将冗余度串并联机械的避障问题转化为等效串联机构的避障问题，环境划分为凸障碍环境及四障碍两种情况，应用Ｂｅｚｉｅｒ曲线构造这两种障碍环境的无碰撞逼近曲线，用ＭＡＴＬＡＢ进行仿真．仿真证明该算法既简单又稳定．

On the basis of the study of equivalence between the redundant series-parallel mechanism and serial mechanism, the motion planning and the avoiding obstacle of redundant series -parallel mechanism are converted into the same problems of the equivalent series one. Obstacles are divided into typical convex and concave obstacle surface, meanwhile, the approaching curves without clash with these obstacle surroundings are established by using of the Bezier function. Furthermore, the author does the emulation experiment, which is very successful.