| 6-PPPS正交六自由度并联机器人的轨迹规 |
| |
| 引用本文： | 赵剑波,高峰,岳义.6-PPPS正交六自由度并联机器人的轨迹规[J].机械设计与研究,2007,23(3):62-65. |
| |
| 作者姓名： | 赵剑波 高峰 岳义 |
| |
| 作者单位： | [1]河北工业大学机械学院,天津300130 [2]上海交通大学机械系统与振动国家重点实验室,上海200240 [3]燕山大学机械学院,秦皇岛066004 |
| |
| 基金项目： | 国家自然科学基金资助项目（60534020）,国家973重点基础研究发展计划资助项目（2006CB705400）. |
| |
| 摘 要： | 针对一种新型6-PPPS并联机器人，给出了表达姿态的一种新方法——驱动姿态参数法，给出了驱动姿态空间的概念，并提出基于驱动姿态空间的姿态路径规划方法。该方法可以保证机构的姿态变化始终在机构的许可姿态范围内。针对姿态路径。采用关节空间轨迹规划，求出了满足姿态路径的关节轨迹规划的约束条件。
|
| 关 键 词： | 正交六自由度 并联机器人 姿态路径规划 关节轨迹规划 |
| 文章编号： | 1006-2343（2007）03-062-04 |
| 修稿时间： | 2007-03-16 |
Trajectory Planning for 6-PPPS Orthogonai 6-DOF Parallel Robot |
| |
| ZHAO Jian-bo, GAO Feng, YUE Yi.Trajectory Planning for 6-PPPS Orthogonai 6-DOF Parallel Robot[J].Machine Design and Research,2007,23(3):62-65. |
| |
| Authors: | ZHAO Jian-bo GAO Feng YUE Yi |
| |
| Affiliation: | 1. College of Mechanical Engineering, Hebei University of Technology, Tianjin 300130 China; 2. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University, Shanghai 200240 China; 3. College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004 China |
| |
| Abstract: | Aiming at a new type 6 - PPPS parallel robot, a new way for attitude expression is proposed in this paper. The definition of driving attitude - space is given at the same time. The method of attitude path planning is proposed based on the driving attitude - space. The method can guarantee the attitude fluctuation with in the allowance range. To deal with the attitude path, the constraint conditions of satisfying the path is solved by the trajectory planning of joint space. |
| |
| Keywords: | orthogonal 6 -Dof parallel robot attitude path planning joint trajectory planning |
| 本文献已被 维普 等数据库收录！ |
