高速并联机械手抓放操作时间最优轨迹规划

提出了一种两平动自由度高速并联机械手——Diamond机构的时间最优轨迹规划方法．首先分析得到3次样条规律的操作空间轨迹误差与关节空间插扑节点间距的4次方成正比，然后确定出典型抓放操作轨迹各段的最大插补间距并获得抓放轨迹上一组最少轨迹点序列，有效提高了计算效率。 在此基础上，以关节速度、加速度和其变化率，以及关节驱动转矩为约束条件，以抓放时间最短为目标，采用复合型优化法计算出电池分选操作的最大和最小单程运行时间分别为0．21S和0．13S，平均分选速度超过100次／min。该方法已成功应用于由4台Diamond机械手构成的高性能锂离子电池分选系统。

Time Optimal Path Planning of a 2-DOF High-Speed Parallel Robot

An effective method of time optimal path planning was proposed for the Diamond robot,a newly invented 2 degree of freedom(2-DOF) high-speed translational parallel robot for rapid pick-and-place operations.The trajectory error in operational space was proportional to the four order of the interpolation intervals in joint space when the piecewise cubic polynomials were employed as the interpolating rule.Minimum numbers of trajectory points were determined to obtain high computational efficiency according to the maximum interpolation intervals in each segment.Complex method was employed to produce the optimal time intervals associated with a set of appropriate constraints such as joint velocity,acceleration,jerk,and torque in joint space.The maximum and minimum cycle time for battery sorting is 0.21 s and 0.13 s,respectively,and the average efficiency is over 100 picks/min.This approach has been successfully applied to rechargeable battery sorting system which consists of 4 Diamond robots.