柔顺关节并联机器人运动规划

Motion Planning of Parallel Robot with Compliant Joints

针对大变形柔顺关节存在的轴心漂移和弹性振动误差,开展运动规划研究,保证柔顺关节并联机器人系统的整体运动性能。采用铰链-扭簧模型,建立柔顺关节并联机器人的系统分析模型,推导系统的运动学方程。针对轴心漂移引起的机器人主、从动杆杆长变化,提出轴心漂移补偿运动规划方法;为解决柔顺关节易产生弹性振动的问题,在笛卡尔空间应用S型速度曲线,规划机器人的运动参数。结合两种规划方法,提出柔顺关节并联机器人的综合运动规划方法。使用柔顺关节并联机器人的虚拟样机模型进行仿真研究,均方根误差降幅超过75%。

Aiming at the axis drift and elastic vibration errors existed on the large deformation compliant joints,a study on the motion planning of the robot system was presented to guarantee the overall performance.The system analytic model of parallel robot with compliant joints was developed using jointspring model and the kinematic equation of the system was obtained.The axis drift compensation motion planning method was proposed to solve the length changes of drive and driven levers caused by axis drift.In Cartesian space,the S-curve velocity mode was applied to design the trajectory parameters for the vibration control of compliant joints.A comprehensive motion planning method that combines above two approaches was presented.Simulation researches were carried out based on the virtual prototype model of parallel robot with compliant joints,showing that the root mean square error decreases by more than 75%.