期刊文献+

含冗余驱动的3-(2SPS)并联机构的轨迹规划与仿真

Research of Trajectory Planning and Simulating for the 3-(2SPS) Parallel Manipulator with Redundant Actuation
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摘要 针对在三平动3-(2SPS)并联机构一条支链上附加冗余滑动,产生运动学反解多解性的问题,开展运动分析,研究运动控制的轨迹规划准则。以避开奇异位形为准则,实施轨迹规划并进行仿真。结果表明,附加冗余驱动可使机构工作空间成倍放大,且动平台能成功避开奇异位形。 Because of the additional redundant sliding to 3-(2SPS) parallel machine,multiple solutions of inverse kinematic are found.It establishes the solution of kinematic equations of the machine,and studies norms of trajectory planning.Based on the norm of avoiding singularity,the simulations of trajectory planning are done.The result shows that redundant actuation can help parallel manipulator enlarge effective workspace,and eliminate the singular configurations.
出处 《机械设计与制造》 北大核心 2013年第5期123-126,共4页 Machinery Design & Manufacture
基金 江苏省科技支撑计划-工业部分(BE2011193)
关键词 冗余驱动 并联机构 奇异位形 轨迹规划 Redundant Actuation Parallel Manipulator Singular Configuration Trajectory Planning
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参考文献6

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