基于MATLAB和ADAMS的并联机器人的轨迹规划仿真研究

Research on Prognostics Technology of Robot System Based on SPC

考虑到并联机器人的轨迹规划的特点,采用修正梯形曲线的方法进行轨迹规划,并运用MATLAB和ADAMS软件进行联合仿真实验。实验结果表明:该方法优化了速度和加速度曲线,提高了并联机器人的运动特性,电机扭矩变化平滑,进而降低了对机械系统的冲击。

In view of the properties of trajectory planning for parallel robots,the trajectory planning method of modified trapezoid curve was introduced and the combinational simulation experiments with software of MATLAB and ADAMS were implemented. The re-sults show that the trajectory planning method optimizes the curves of velocity and acceleration of the robot and improves the motion properties of parallel robots. The torques of motors change smoothly ,which decreases the dash for the mechanical system.