Delta 并联机器人抓放轨迹优化

摘要

On the basis of Delta parallel robot trajectory of gate-shaped picking and placing,we described the method of trajectory planning and gate-shaped path synthesis by using the sinusoidal correcting keystone acceleration curve.From the perspective of mechanical vibration and shock reduction mechanism,taking the initiative to reduce Delta robot arm maximum angular shaft as the goal,the relevant operating parameters of trajectory were optimized.For the presence of jerk mutations on the acceleration curve approach to planning the start and end-side movement,resulting in a flexible shock problem,it is proposed that modified sinusoidal correcting keystone acceleration curve,making the entire operating cycle jerk curve become continuous,eliminating the system flexible impact.%在 Delta 并联机器人门形抓放轨迹的基础上，阐述了采用正弦修正梯形加速度曲线进行轨迹规划和门形路径合成的方法。从减小机构震动和冲击的角度出发，以降低 Delta 机器人主动臂驱动轴端的最大角加速度为目标，对门形轨迹的相关运行参数进行了优化。针对正弦修正梯形加速度曲线规划方式中运动始末端存在跃度突变，导致柔性冲击的问题，提出了改进型的正弦修正梯形加速度曲线，使得整个运行周期内跃度曲线变得连续，消除了系统的柔性冲击。