摘要
为了进一步提高重载铸造机器人在浇注作业过程中浇包轨迹的平稳性和精确度,以一种新型混联式4自由度重载铸造机器人为研究对象,提出一种基于五次多项式与正弦加速度运动规律合成的轨迹规划方法。运用机器人机构拓扑结构理论计算执行机构的自由度,采用闭环矢量法对并联机构进行位置求解,并根据等效法及几何法推导出混联机构的运动学位置方程;采用五次多项式与正弦加速度运动规律合成的方式对机器人进行轨迹规划;运用Adams软件进行机器人末端轨迹运动仿真,对理论求解得到的参数进行了验证。结果表明,基于五次多项式与正弦加速度运动规律合成的运动轨迹相比五次多项式的运动轨迹更加平滑、自然,并且机器人末端最大速度降低了14%,可避免因速度波动过大产生振动现象。
In order to further improve the stability and accuracy of the pouring trajectory of the heavy-duty casting robot during the pouring operation, a new hybrid four-degree-of-freedom heavy-duty casting robot is taken as the research object, and a trajectory planning method based on the synthesis of the fifth-order polynomial and the sinusoidal acceleration motion law is proposed. The degree-of-freedom of the actuator is calculated by the topological structure theory of the robot mechanism, and the position of the parallel mechanism is solved by the closed-loop vector method, the kinematic position equation of the hybrid mechanism is derived according to the equivalent method and the geometric method. The trajectory planning of the robot is carried out by combining the fifth-order polynomial and the sinusoidal acceleration motion law. The Adams software is used to simulate the trajectory motion of the robot end, and the parameters obtained by the theoretical solution are verified.The results show that the trajectory based on the combination of the fifth-order polynomial and the sine acceleration motion law is smoother and more natural than the fifth-order polynomial, and the maximum speed of the robot end is reduced by 14%, avoiding the vibration due to excessive speed fluctuations.
作者
王成军
杨林
李龙
沈豫浙
Wang Chengjun;Yang Lin;Li Long;Shen Yuzhe(College of Artificial Intelligence,Anhui University of Science and Technology,Huainan 232001,China;College of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001,China;Department of Science and Technology,Anhui University of Science and Technology,Huainan 232001,China)
出处
《机械传动》
北大核心
2022年第12期16-21,37,共7页
Journal of Mechanical Transmission
基金
安徽省重点研究与开发计划项目(201904a05020092)
安徽高校自然科学研究项目重点项目(KJ2020A0288)。
关键词
复合多项式
重载铸造机器人
并联机构
位置方程
轨迹规划
Composite polynomial
Heavy-duty casting robot
Parallel mechanism
Equation of position
Trajectory planning
