摘要
针对工业机械臂在运动过程中的角速度与角加速度突变引起的机械系统冲击问题,结合五次B样条曲线和五次多项式的高阶连续性,提出了一种新的分段插值轨迹规划算法即"B-5-B算法"。通过SOLIDWORKS建立样机模型,利用Adams进行虚拟样机的运动学仿真,得到关节的角位移、角速度、角加速度以及关节力矩图。通过与"3-5-3算法"所得到的图进行比较,表明了该算法提高了工业机械臂的角速度和角加速度曲线的平滑性,并降低了机械系统的冲击力,同时由于B样条具有局部支撑性,为轨迹优化提供了一种新的方法,也为机械臂实物验证做了充分的理论支撑。
Aimed at the mechanical system impact problem caused by the sudden change of angular velocity and angular acceleration of industrial robots during the movement,a new algorithm of piecewise interpolation trajectory planning namely "B-5-B algorithm" is proposed based on the five-order B-spline curves and the high order continuity of quintic polynomials.Through SOLIDWORKS to establish a prototype model,then using Adams virtual kinematics simulation of the prototype to get the joint angular displacement,angular velocity,angular acceleration and joint torque diagram. Compared with the graph obtained by "3-5-3 algorithm", "B-5-B algorithm" improves the smoothness of angular velocity and angular acceleration curve of industrial robots and reduces the impact force of mechanical system. Since B-spline is locally supportive,It provides a new method for trajectory optimization and sufficient theoretical support for physical verification of robotic arm.
作者
郑涛
刘满禄
ZHENG Tao;LIU Man-lu(Special Environment Robotics Laboratory of Sichuan Province Southwest University of Science and Technology,Sichuan Mia-nyang 621010,China;School of Information Science and Technology,University of Science and Technology of China,Anhui Hefei 230026,China)
出处
《机械设计与制造》
北大核心
2020年第3期261-264,共4页
Machinery Design & Manufacture
基金
国家“十三五”核能开发科研项目资助([2016]1295)。
