NAOC Open IR
基于摆线运动规律的悬索并联机器人轨迹规划
庄鹏; 姚正秋
2006
Source Publication机械设计
ISSN1001-2354
Volume023Issue:009Pages:21
Abstract六自由度绳索悬挂式并联机器人属于大柔性机械系统,为保证运动的平稳性,要求动平台的运动轨迹光滑连续,为此提出了基于摆线运动规律的笛卡儿空间连续轨迹规划方法,该方法计算简单,实时性好。利用该方法对直线轨迹、圆轨迹和过离散点轨迹进行了规划。运动学和动力学方程的计算结果表明,绳索的速度、加速度和拉力变化连续平缓,而且绳索拉力始终大于0,因此动平台运行过程中动态响应小,绳索张紧可靠。该方法适用于悬索机器人的轨迹规划,同样也适用于对运动平稳性要求较高的其它机器人系统。
Language英语
Document Type期刊论文
Identifierhttp://ir.bao.ac.cn/handle/114a11/47489
Collection中国科学院国家天文台
Affiliation中国科学院国家天文台
First Author AffilicationNational Astronomical Observatories, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
庄鹏,姚正秋. 基于摆线运动规律的悬索并联机器人轨迹规划[J]. 机械设计,2006,023(009):21.
APA 庄鹏,&姚正秋.(2006).基于摆线运动规律的悬索并联机器人轨迹规划.机械设计,023(009),21.
MLA 庄鹏,et al."基于摆线运动规律的悬索并联机器人轨迹规划".机械设计 023.009(2006):21.
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