Trajectory Planning Optimization of Two-degree-of-freedom Parallel Mechanism
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 manipula...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-07-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.07.016 |
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| author | Junwei Shen Heng Cheng |
| author_facet | Junwei Shen Heng Cheng |
| author_sort | Junwei Shen |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-496b32d78ce34d7ab2ecbf0c255ca25c |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-07-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-496b32d78ce34d7ab2ecbf0c255ca25c2025-01-10T14:48:37ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-07-014511011518848220Trajectory Planning Optimization of Two-degree-of-freedom Parallel MechanismJunwei ShenHeng ChengAiming 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.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.07.016Parallel mechanismTrajectory planningKinematics analysisCubic polynomialBessel curve |
| spellingShingle | Junwei Shen Heng Cheng Trajectory Planning Optimization of Two-degree-of-freedom Parallel Mechanism Jixie chuandong Parallel mechanism Trajectory planning Kinematics analysis Cubic polynomial Bessel curve |
| title | Trajectory Planning Optimization of Two-degree-of-freedom Parallel Mechanism |
| title_full | Trajectory Planning Optimization of Two-degree-of-freedom Parallel Mechanism |
| title_fullStr | Trajectory Planning Optimization of Two-degree-of-freedom Parallel Mechanism |
| title_full_unstemmed | Trajectory Planning Optimization of Two-degree-of-freedom Parallel Mechanism |
| title_short | Trajectory Planning Optimization of Two-degree-of-freedom Parallel Mechanism |
| title_sort | trajectory planning optimization of two degree of freedom parallel mechanism |
| topic | Parallel mechanism Trajectory planning Kinematics analysis Cubic polynomial Bessel curve |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.07.016 |
| work_keys_str_mv | AT junweishen trajectoryplanningoptimizationoftwodegreeoffreedomparallelmechanism AT hengcheng trajectoryplanningoptimizationoftwodegreeoffreedomparallelmechanism |