| 并联机械臂的圆弧插补算法研究 |
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| 引用本文： | 余力生,李伟. 并联机械臂的圆弧插补算法研究[J]. 煤矿机械, 2013, 34(1): 81-83 |
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| 作者姓名： | 余力生 李伟 |
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| 作者单位： | 郑州轻工业学院机电工程学院,郑州,450002 |
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| 基金项目： | 2011年河南省科技攻关项目(003207) |
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| 摘 要： | 研究一种基于双极坐标的并联机械臂的圆弧插补算法。该算法采用逐点比较法原理,通过转动两并联机械臂转角的方式实现圆弧插补,重点给出转角转动的方向和条件,并给出了递推公式。分析方法和公式采用了双极坐标的方式。
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| 关 键 词： | 并联机械臂 双极坐标 逐点比较法 圆弧插补 |
Study on Circular Interpolation Algorithm of Parallel Manipulator |
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| YU Li-sheng,LI Wei. Study on Circular Interpolation Algorithm of Parallel Manipulator[J]. Coal Mine Machinery, 2013, 34(1): 81-83 |
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| Authors: | YU Li-sheng LI Wei |
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| Affiliation: | (Mechanical Electrical Engineering College,Zhengzhou Light Industry University,Zhengzhou 450002,China) |
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| Abstract: | A circular interpolation algorithm based on bipolar-coordinate parallel manipulator is studied.According to comparing point by point interpolation principle,a circular interpolation is realized by rotated parallel manipulator angles.Directiones and conditions of rotated angle are pointed emphatically.Recurrence formula are raised.Analysis and formusa based on bipolar-coordinate. |
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| Keywords: | parallel manipulator bipolar-coordinate comparing point by point circular interpolation |
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