球形电动机正弦函数平方曲线加减速算法研究

Research on sinusoidal square curve function acceleration and deceleration algorithm of spherical motor

文中主要研究了三自由度永磁球形电动机的正弦函数平方曲线加减速算法的轨迹规划。对球形电动机建立正逆运动学模型,利用运动学方程求解出正逆解,并对欧拉角进行奇异性分析,对正弦函数平方曲线进行了理论分析与数字仿真分析,其结果表明了此加减速算法在角位移、角速度、角角速度和角加加速度方面的优良特性。

In this paper,the trajectory planning of the sinusoidal square curve function acceleration and deceleration algorithm for a three-degree-of-freedom permanent magnet spherical motor is studied.Firstly,the forward and inverse kinematics model is established for the spherical motor.The forward and inverse solutions are solved by the kinematic equation,and the singularity analysis of the Euler angle is carried out.Secondly,the square curve of the sinusoidal function is theoretically analyzed.Finally,the digital simulation analysis is carried out.The results show that the acceleration and deceleration algorithm has excellent characteristics in angular displacement,angular velocity,angular-angular velocity and angular acceleration.