最优化3-RRR球面并联机器人路径规划方法

Path Planning Method for Optimum 3-RRR Spherical Parallel Manipulator

针对3-RRR球面机器人进行了路径规划方法的讨论,将一种快速寻找最短路径的橡皮筋算法推广到了三维空间,并编制了伪代码。对机器人运动学方程进行了计算分析,得到了其工作空间点云模型。根据其可定向性周期空间的拓扑特性,确定最短路径找寻方向。通过4组算例验证了能量最省路径规划方法的可行性,并给出了各自的点云图,以及1组电机转角的变化曲线。

This work addressed the path planning method for optimum 3-RRR spherical parallel Manipulator（SPM）,and developed an approximating shortest path algorithm in 3Dspace,which is called rubberband algorithm.Its pesudocode was also given in this study.The time complexity of RB was analyzed,and showed that it was linear order.The kinematics was also studied for attaining its cloud point map.The workspace of the optimum 3-RRR SPM was proved to be topologically orientable and periodic, based on which shortest path searching direction was determined to improve the calculating speed.Via computing four groups of inputting data the method for minimum energy-cost path was proven to be feasible.The curve of each motor＇s angular displacements was also attained in this work.