| 风洞四自由度并机器人奇异路径优化分析 |
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| 引用本文： | 刘方,谭兴强,贾淑媛.风洞四自由度并机器人奇异路径优化分析[J].科技咨询导报,2014(10):38-39. |
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| 作者姓名： | 刘方 谭兴强 贾淑媛 |
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| 作者单位： | [1]西华大学机械工程与自动化学院,四川成都610039 [2]攀枝花学院机械工程系,四川攀枝花617000 |
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| 摘 要： | 奇异位形是机器人机构的一个十分重要的运动学特性，机器人的运动、受力、控制精度等方面的性能都与机构的奇异位形密切相关。该文对风洞四自由度并联机器人奇异位形进行了研究，使得机器人动平台能够平滑地绕开奇异点且能够获得最短路径，并建立了奇异位形优化方程。最后通过MATLAB仿真得出优化后的轨迹。
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| 关 键 词： | 机器人 奇异点 奇异路径 |
Optimization Analysis of Four DOFs Parallel Robot Singular Path for Wind tunnel experiment platform |
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| LIU Fang,TAN Xingqiang,JIA Shuyuan.Optimization Analysis of Four DOFs Parallel Robot Singular Path for Wind tunnel experiment platform[J].Science and Technology Consulting Herald,2014(10):38-39. |
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| Authors: | LIU Fang TAN Xingqiang JIA Shuyuan |
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| Institution: | 1 .Department of Mechanic Engineering of Pan Zhihua University,Pan Zhihua City Sichun Province 617000 ; 2.Mechanic Engineering and Automation College of Xi Hua University,Cheng Du City 610039) |
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| Abstract: | Singular position was a very important kinematics feature of robot mechanism,singular position of robot mechanism was closely related to robot performance,such as movement,force,control accuracy,etc.In this paper,four-freedom degree parallel robot singular position was studied,so that the robot could smoothly bypass the singularity and the shortest path could be obtained,and a singular position optimization equation was established.Finally,the optimized simulation trajectory was obtained by matlab. |
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| Keywords: | robot singularity singular path |
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