并联机器人智能输入写字功能的设计

出于教学和实验的目的,利用Lab VIEW编程软件为两自由度并联机器人开发了一套平面写字功能。所选用的并联机器人为平面五杆机构,两个电机轴轴心相互重合,固定杆长度为零,利用平面几何知识,并联机器人的正逆解可很容易算得。机器人所写文字通过人工手动输入,经过选择性线性插值、去点处理、坐标系转换,将图片坐标系下的坐标点转化为机械手坐标系下的坐标点。为保证机器人在写字过程中的平滑性,采用了连续三次样条快速迭代的算法规划机器人的加速度轨迹曲线。

Design of Intelligent Input Writing Function by Parallel Robot

For the purpose of teaching and experiment, a method of plane writing is developed by Two Degree of Freedom (2-DOF) parallel robot manipulator based on LabVIEW programming software. The parallel robot was a plane five bar mechanism, and the length of the fixed link was zero as the centers of motor axes were coincided. The forward and inverse kinematics solution of the parallel robot could be calculated easily by using plane geometry. The robot writing text was manual input, and the points of the image coordinate system converted to the points of the manipulator coordinate system through selective linear interpolation, points processing and coordinate system conversion. The fast iterative algorithm with continuous cubic spline is used in the acceleration planning curve to ensure the smoothness of the robot writing process.