Trajectory Planning Optimization of Two-degree-of-freedom Parallel Mechanism

Junwei Shen; Heng Cheng

doi:10.16578/j.issn.1004.2539.2021.07.016

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Trajectory Planning Optimization of Two-degree-of-freedom Parallel Mechanism

Design· Calculation | 更新时间：2022-11-10

- Trajectory Planning Optimization of Two-degree-of-freedom Parallel Mechanism
- Journal of Mechanical Transmission Vol. 45, Issue 7, Pages: 110-115(2021)
- 作者机构：
  
  1.山西机电职业技术学院数控工程系，山西长治 046000
  2.太原理工大学机械工程学院，山西太原 030024
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.07.016
  CLC：
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申军伟,程珩.2自由度并联机构的运动轨迹规划优化[J].机械传动,2021,45(07):110-115.

Shen Junwei,Cheng Heng.Trajectory Planning Optimization of Two-degree-of-freedom Parallel Mechanism[J].Journal of Mechanical Transmission,2021,45(07):110-115.
申军伟,程珩.2自由度并联机构的运动轨迹规划优化[J].机械传动,2021,45(07):110-115. DOI： 10.16578/j.issn.1004.2539.2021.07.016.

Shen Junwei,Cheng Heng.Trajectory Planning Optimization of Two-degree-of-freedom Parallel Mechanism[J].Journal of Mechanical Transmission,2021,45(07):110-115. DOI： 10.16578/j.issn.1004.2539.2021.07.016.

摘要

针对传统并联机械手轨迹规划存在的振动问题，对2自由度并联机构进行了研究，提出了一种基于高阶可微复合多项式的轨迹规划方法。首先，设计了一种用于产品包装的平面2自由度并联机械手，并进行了逆运动学和正运动学分析。利用SolidWorks软件进行建模，并验证了运动学分析的正确性。根据物理边界和行业需求选择了合适的工作空间。然后，将三次多项式与贝塞尔曲线相结合，生成了一个新的复合多项式。最后，制作了机械手样机并进行了实际测试。研究结果表明，在相同的持续时间内，相比于三次多项式，新多项式生成轨迹的位置、速度和加速度曲线更加平滑，有效减少了机构的振动，最大速度和加速度降低了约40%，有效延长了机械寿命。

Abstract

Aiming at the vibration problem of traditional parallel manipulator trajectory planning， two-degree-of-freedom parallel mechanism is studied， and a trajectory planning method based on high-order differentiable compound polynomial is proposed. Firstly， a planar two-degree-of-freedom parallel manipulator for product packaging is designed， and the inverse kinematics and forward kinematics are analyzed. The model is built by Solidworks software， and the correctness of kinematics analysis is verified. According to the physical boundaries and industry needs， the appropriate workspace is selected. Then， a new compound polynomial is generated by combining cubic polynomial with Bessel curve. Finally， the prototype of the manipulator is made and tested in practice. The research results show that， compared with cubic polynomial， the position， velocity and acceleration curves of the trajectory generated by the new polynomial are smoother in the same duration， which effectively reduces the vibration of the mechanism， reduces the maximum velocity and acceleration by about 40%， and effectively prolongs the mechanical life.

关键词

并联机构轨迹规划运动学分析三次多项式贝塞尔曲线

Keywords

Parallel mechanismTrajectory planningKinematics analysisCubic polynomialBessel curve

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