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| 高速并联机械手轨迹规划及数值仿真 | |
| 引用本文： | 张善青,倪雁冰,宗升发.高速并联机械手轨迹规划及数值仿真[J].组合机床与自动化加工技术,2007(8):37-39,42. |
| 作者姓名： | 张善青 倪雁冰 宗升发 |
| 作者单位： | 1. 天津理工大学,机械工程学院,天津,300191;天津大学,机械工程学院,天津,300072 2. 天津大学,机械工程学院,天津,300072 3. 天津理工大学,机械工程学院,天津,300191 |
| 摘 要： | 在运动学分析和动力学分析的基础上,针对抓放操作的需要,在操作空间研究diamond高速并联机械手的两种轨迹规划方式：正弦运动规律和34-5次多项式运动规律,借助数学工具MATLAB,计算出速度、加速度、力矩、电机功率等运动学参数值和动力学参数值,并进行计算机数值仿真,比较两种运动规律的优缺点,可作为控制机械手运动的优选依据。 |
| 关 键 词： | 并联机械手 轨迹规划 数值仿真 |
| 文章编号： | 1001-2265（2007）08-0037-03 |
| 修稿时间： | 2007-01-172007-04-17 |
Trajectory Planning of a High-speed Parallel Manipulator and Numerical Value Simulation |
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| ZHANG Shan-qing,NI Yan-bing,ZONG Sheng-fa.Trajectory Planning of a High-speed Parallel Manipulator and Numerical Value Simulation[J].Modular Machine Tool & Automatic Manufacturing Technique,2007(8):37-39,42. | |
| Authors: | ZHANG Shan-qing NI Yan-bing ZONG Sheng-fa |
| Affiliation: | 1. Sehool of Mechanieal Engineering, Tianjin University of Teehnology, Tianjin 300191, China; 2. Sehool of Meehanieal Engineering, Tianjin University,Tianjin 300072, China |
| Abstract: | Based on kinematic analysis and dynamical analysis,considered the demand of the "pick and place" operations,two trajectory planning of a high-speed parallel manipulator is presented in the working space,they are the sine motion law and the 3-4-5 polynomial law.Helped by MATLAB,the mathematic tool,the parameter of kinematics and dynamics e.g.velocity,acceleration,moment,power of motor etc.have been calculated.The computer numerical value simulation is processed.Two characteristic of motion laws are compared.A kind of effective trajectory planning method will be the basis of controlling the manipulator. |
| Keywords: | parallel manipulator trajectory planning numerical value simulation |
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