一种2自由度高速并联机械手的轨迹规划方法

Trajectory Planning Method for a 2-DOF High-Speed Parallel Manipulator

以一种平面2自由度高速并联机械手为研究对象,研究其高速搬运作业的操作空间和关节空间轨迹规划策略.通过关键路径点设置,定义针对点到点的典型搬运作业轨迹.针对操作空间,以运动学逆解模型为基础,利用3-4-5次多项式运动规律,建立关节空间运动特征(角度、速度和加速度)关于操作空间运动特征的函数映射.针对关节空间,以运动学正解模型为基础,利用5次非均匀B样条运动规律,建立操作空间运动特征关于关节空间运动特征的函数映射.给定相同的关键路径点和运动时间,以一组参数为例,对比分析在两种不同轨迹规划方法下末端参考点的运动特征,并进行对比试验.结果表明:基于5次非均匀B样条运动规律的关节空间轨迹规划在降低系统功耗和抑制机构残余振动方面具有显著优势.

Taking a 2-DOF translational parallel manipulator as the research object,a space trajectory planning strategy for operating and joint spaces was presented in high-speed handling operations. The typical point-to-point han-dling operation trajectory was defined through the setting of critical path points. Based on the establishment of the robot inverse kinematics model in operating space,the function mapping of motion characteristics（angle,velocity and acceleration）from operating space to joint space was obtained according to the 3-4-5 polynomial motion law. On the basis of forward kinematics model in joint space,the function mapping of motion characteristics from jointspace to operating space was obtained according to quintic non-uniform B-spline motion law. The movement characteristics of the end reference point in two different trajectory planning methods were analyzed under the same critical path points and time. In addition,the comparison experiment was carried out. The result shows that the trajectory planning of joint space based on quintic non-uniform B-spline motion law has significant advantages in reducing the system power consumption and restraining mechanism residual vibration.