摘要
以柔顺关节并联机器人系统为研究对象,对其运动规划问题进行研究。根据柔顺关节特性,建立系统分析模型,基于拉格朗日方法建立系统动力学方程。为保证系统平稳运行,抑制惯性力的变化速度,应用梯形和S型速度规划方法进行运动规划,并给出了直线轨迹和圆轨迹的运动规划算法。仿真试验结果验证了运动规划方法的有效性。
The research on motion planning of the parallel robot with compliant joints is carried out. According to the characteristics of compliant joint, the system analysis model is built. The dynam- ics equation is obtained based on Lagrange method. To guarantee the smooth running of the system and suppress the rate of speed of inertia force, the trapezoidal and S-curve velocity planning method are used for motion planning. The motion planning algorithms of linear and circular trajectories are given. The simulation results show that the motion Dlanning method is effective_
出处
《机械传动》
CSCD
北大核心
2015年第2期1-4,共4页
Journal of Mechanical Transmission
基金
国家自然科学基金(51175006)
