摘要
针对工业上用于高速分拣的并联机械手轨迹规划存在的加速度冲击问题,以某种二自由度并联机械手的门字型运动轨迹为目标,对比分析了3次多项式、3-5-3混合多项式及4-3-4混合多项式的轨迹规划。以速度、加速度为约束条件,应用麻雀算法对轨迹规划时间进行了优化。MATLAB仿真实验表明:在运行时间均衡分布前提下,4-3-4混合多项式规划的轨迹更加平稳,优化后的并联机械手轨迹运行时间降低了45.4%。
In view of the acceleration shock problem existing in trajectory planning of parallel manipu‐lators used for high-speed sorting in industry,the gantry trajectory of a parallel manipulator with two de‐grees of freedom was taken as the target,and the trajectories planned by cubic polynomials,3-5-3 mixed polynomials,and 4-3-4 mixed polynomials were compared.The trajectory planning time was op‐timized by using a sparrow algorithm with speed and acceleration as constraints.MATLAB simulation results show that the trajectory planned by 4-3-4 mixed polynomials is more stable,and the trajectory running time of the optimized parallel manipulator is reduced by 45.4%under the premise of balanced distribution of running time.
作者
姚天胜
刘凌云
王佳维
潘广通
Yao Tiansheng;Liu Lingyun;Wang Jiawei;Pan Guangtong(School of Electrical&Information Engineering,Hubei University of Automotive Technology,Shiyan 442002,China)
出处
《湖北汽车工业学院学报》
2023年第2期61-65,共5页
Journal of Hubei University Of Automotive Technology
基金
国家自然基金(51575211)。
关键词
并联机械手
多项式插值
轨迹规划
麻雀算法
parallel manipulator
polynomial interpolation
trajectory planning
sparrow algorithm
