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对并联机器人末端轨迹的速度和位置规划算法进行了研究。基于并联机器人的运动学逆解模型和雅克比矩阵给出了各个杆位置和速度的算法。提出了采用梯形速度曲线的方法对并联机器人的末端轨迹速度进行规划。在笛卡尔空间内提出了直线和圆弧插补算法对并联机器人的末端轨迹的位置进行规划。以末端轨迹分别为直线和圆弧时进行了速度和位置规划并进行仿真分析。仿真分析结果表明:并联机器人的各个杆的位置和速度变化曲线与末端轨迹的位置和速度规划一致且光滑连续。该方法考虑了轨迹的位置和速度控制,简单实用,仿真结果为以后该机构的运动控制提供了依据。
The algorithm of speed and position planning of parallel robot trajectory is studied. Based on the kinematic inverse model and the Jacobian matrix of the parallel robot, the algorithm of the position and velocity of each rod is given. The method of trapezoidal velocity curve is proposed to plan the end-of-path velocity of the parallel robot. In Cartesian space, the linear and circular interpolation algorithms are proposed to plan the position of the end trajectory of a parallel robot. The speed and position planning and the simulation analysis are carried out when the end trajectories are straight lines and arcs respectively. The simulation results show that the position and velocity curves of each rod of the parallel robot are consistent and smoothly continuous with the position and velocity of the end trajectory. The method takes into account the trajectory position and velocity control, simple and practical, and the simulation results provide the basis for the future motion control of the mechanism.