Trajectory Planning Research of Spherical 2-DOF Parallel Manipulator with Actuation Redundancy

Abstract:

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This paper present formation principle of any spherical trajectory curve, and kinematic track of spherical 2-DOF parallel manipulator with actuation redundancy was planned by trajectory planning method that acceleration is continuous segmental function in Cartesian space, in order to guarantee that angular displacement, angular velocity and angular acceleration curve is smooth and continuous, and forward kinematics was simulated by virtue of ADAMS software. At the same time, based on dynamic analysis, smooth and continuous driving torque curve of three actuated joints were obtained by force optimization method. This kind of trajectory planning method laid the foundation for redundant actuation control of the manipulator.

Info:

Periodical:

Advanced Materials Research (Volumes 308-310)

Edited by:

Jian Gao

Pages:

2068-2073

DOI:

10.4028/www.scientific.net/AMR.308-310.2068

Citation:

Y. Q. Li et al., "Trajectory Planning Research of Spherical 2-DOF Parallel Manipulator with Actuation Redundancy", Advanced Materials Research, Vols. 308-310, pp. 2068-2073, 2011

Online since:

August 2011

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Price:

$35.00

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