| 抛物线过渡的并联机器人线性轨迹规划 |
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| 引用本文： | 方菲,刘平安.抛物线过渡的并联机器人线性轨迹规划[J].华东交通大学学报,2005,22(4):113-116. |
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| 作者姓名： | 方菲 刘平安 |
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| 作者单位： | 吉林省畜牧业学校,吉林,白城,137000;华东交通大学,机电工程学院,江西,南昌,330013 |
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| 摘 要： | 针对并联机器人工作空间较小，轨迹规划时易于越出工作空间范围这一不足，提出了应用直线两端加抛物线过渡实现位置和速度连续的轨迹规划方法．并通过实例和图线比较得出该方法更适合于并联机器人这类小工作空间运动规划的结论．最后说明了该方法的可靠性．
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| 关 键 词： | 并联机器人 轨迹规划 工作空间 |
| 文章编号： | 1005-0523（2005）04-0113-04 |
| 收稿时间： | 2005-03-15 |
| 修稿时间： | 2005年3月15日 |
Linear Trajectory Planning of Parallel Manipulators with Parabolic Blends |
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| Fang Fei;Liu PingAn.Linear Trajectory Planning of Parallel Manipulators with Parabolic Blends[J].Journal of East China Jiaotong University,2005,22(4):113-116. |
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| Authors: | Fang Fei;Liu PingAn |
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| Abstract: | In order to meet the much smaller envelops of parallel manipulators than those of serial ones and to overcome the disadvantage of easily going beyond their envelops while trajectory planning, a method to plan a linear trajectory with parabolas blends has been provided in detail in this paper, which can ensure the continuity of velocity at the two end of a stroke. Finally, the validity of this method has been verified through a planning example of 3 degree of freedom parallel robot. |
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| Keywords: | planar manipulator trajectory planning workspace |
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