车载并联机器人移动平台运动空间分析

Kinematic Space Analysis of Vehicle-mounted Parallel Robot Mobile Platform

并联机器人正向运动学计算复杂,解通常包含相互耦合的线性方程组。一般情况下,并联机械臂正向运动学问题的不同解可以使用数值法和分析法得到。本文针对车载四轴并联机器人运动空间受限的问题,首先分析机构几何关系并建立约束方程,然后求解机器人屏幕坐标到方向盘坐标的最小距离,最后评估和制定有效的实时避障方案。仿真结果表明,当规划的运动路径受阻,车载并联机器人可以及时有效的避免碰撞的发生。

The forward kinematics of parallel robots is complicated and the solutions usually include coupled linear equations.In general,the different solutions of the forward kinematics of parallel manipulator can be obtained by numerical method and analytical method.In this paper,aiming at the problem of limited movement space of vehicle-mounted four-axis parallel robot,the geometric relationship of mechanism is analyzed and the constraint equation is established.Then the minimum distance between robot screen coordinates and steering wheel coordinates is solved.Finally,the effective real-time obstacle avoidance scheme is evaluated and formulated.The simulation results show that when the planned motion path is blocked,the vehicle-mounted parallel robot can avoid collision timely and effectively.