标题：
Trajectory planning of parallel mechanism for pouring robot
点击次数：
所属单位：
机电学院
发表刊物：
CURRENT SCIENCE
关键字：
Parallel mechanism pouring robot singularity sloshing model trajectory planning
摘要：
Aiming at the problem of singular area in the working space when designing the parallel casting mechanism of the pouring robot, and the sensitivity of the pouring liquid to acceleration of the ladle, we propose a genetic fusion algorithm of particle swarm optimization with angle and distance observers to find the optimal control point. Numerical analysis shows that it is feasible to change the tilting angle of the ladle to make it traverse the singular regions safely. According to the simplified method of single pendulum, the sloshing model of pouring liquid is established, and the segmented acceleration planning method considering the sloshing of pouring liquid is proposed in combination with the characteristics of high-speed cam motion. Numerical and experimental studies show that the segmented acceleration planning method can make the parallel pouring mechanism reach the set position in the shortest time while moving along the planned trajectory, and ensure that the sloshing of pouring liquid is within the safe range.
ISSN号：
0011-3891
是否译文：
否
发表时间：
2019-06-10
合写作者：
Wang, Chengjun,吴洪涛
通讯作者：
李泷杲
发表时间：
2019-06-10
学位：工学博士学位
职称：副教授
所在单位：机电学院