Trajectory Planning and Simulation of 6-SPU Parallel Robot
Aiming at the requirements of high machining accuracy and high production efficiency for large workpieces such as aircraft wings in the field of aviation manufacturing. Firstly, the degree of freedom of 6-SPU parallel robot is analyzed by using screw theory, and the trajectory planning of moving pla...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-06-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.06.014 |
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| _version_ | 1841548792658132992 |
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| author | Wencai Liu Yong Xu Jiali Chen Zheng Liang |
| author_facet | Wencai Liu Yong Xu Jiali Chen Zheng Liang |
| author_sort | Wencai Liu |
| collection | DOAJ |
| description | Aiming at the requirements of high machining accuracy and high production efficiency for large workpieces such as aircraft wings in the field of aviation manufacturing. Firstly, the degree of freedom of 6-SPU parallel robot is analyzed by using screw theory, and the trajectory planning of moving platform of the 6-SPU parallel mechanism is analyzed and studied based on the inverse kinematics method and three element space vector according to the Frenet-Serret, the movement platform corresponding position and gesture in the processing process is got. Then, the homogeneous coordinate transformation matrix and the inverse solution calculation formula are used to further determine the movement rules exerted on the end actuator when it is moving on the desired trajectory. Finally, the virtual model of this mechanism is created in SolidWorks software and the planning trajectory is verified through simulation in Simulink simulation module in MATLAB modeling simulation, and the theoretical foundation for the engineering design of mobile parallel processing platform is provided. |
| format | Article |
| id | doaj-art-beef35a8e2bd4ce68d3eac2bf76902d6 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-06-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-beef35a8e2bd4ce68d3eac2bf76902d62025-01-10T14:00:26ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-06-0143758230641473Trajectory Planning and Simulation of 6-SPU Parallel RobotWencai LiuYong XuJiali ChenZheng LiangAiming at the requirements of high machining accuracy and high production efficiency for large workpieces such as aircraft wings in the field of aviation manufacturing. Firstly, the degree of freedom of 6-SPU parallel robot is analyzed by using screw theory, and the trajectory planning of moving platform of the 6-SPU parallel mechanism is analyzed and studied based on the inverse kinematics method and three element space vector according to the Frenet-Serret, the movement platform corresponding position and gesture in the processing process is got. Then, the homogeneous coordinate transformation matrix and the inverse solution calculation formula are used to further determine the movement rules exerted on the end actuator when it is moving on the desired trajectory. Finally, the virtual model of this mechanism is created in SolidWorks software and the planning trajectory is verified through simulation in Simulink simulation module in MATLAB modeling simulation, and the theoretical foundation for the engineering design of mobile parallel processing platform is provided.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.06.014Parallel robotInverse kinematicsTrajectory planningVirtual prototype technology |
| spellingShingle | Wencai Liu Yong Xu Jiali Chen Zheng Liang Trajectory Planning and Simulation of 6-SPU Parallel Robot Jixie chuandong Parallel robot Inverse kinematics Trajectory planning Virtual prototype technology |
| title | Trajectory Planning and Simulation of 6-SPU Parallel Robot |
| title_full | Trajectory Planning and Simulation of 6-SPU Parallel Robot |
| title_fullStr | Trajectory Planning and Simulation of 6-SPU Parallel Robot |
| title_full_unstemmed | Trajectory Planning and Simulation of 6-SPU Parallel Robot |
| title_short | Trajectory Planning and Simulation of 6-SPU Parallel Robot |
| title_sort | trajectory planning and simulation of 6 spu parallel robot |
| topic | Parallel robot Inverse kinematics Trajectory planning Virtual prototype technology |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.06.014 |
| work_keys_str_mv | AT wencailiu trajectoryplanningandsimulationof6spuparallelrobot AT yongxu trajectoryplanningandsimulationof6spuparallelrobot AT jialichen trajectoryplanningandsimulationof6spuparallelrobot AT zhengliang trajectoryplanningandsimulationof6spuparallelrobot |