摘要
为提高并联调整机构在高精度装配过程中的平稳性和精确度,以一种采用偏置铰链的并联调整机构为研究对象,提出一种基于5-1-5混合多项式插值运动规律的轨迹规划方法。首先,对机构的自由度进行了验证,采用闭环矢量法推导了逆向运动学,在此基础上获取了并联机构的工作空间。然后,采用5-1-5混合多项式插值函数对机构进行了轨迹规划,运用Adams对动平台运动轨迹进行了仿真,同时与仿真对比,验证了逆向运动学理论求解的正确性。结果表明,基于5-1-5混合多项式插值运动规律合成的运动轨迹与五次多项式的运动轨迹相比更加平滑、自然,大大降低了并联机构末端运动的最大速度,有效避免了因速度波动过大而产生振动的现象,运动特性更加优越。
To improve the stability and accuracy of the parallel adjustment mechanism during the high-precision assembly process,taking a parallel adjustment mechanism with offset hinges as the research object,a trajectory plan-ning method based on the 5-1-5 hybrid polynomial interpolation motion law is proposed.First,the degrees of freedom are verified,the inverse kinematics is derived using the closed-loop vector method,on this basis the workspace of the parallel mechanism was obtained.Then,the trajectory planning of the mechanism is performed using the 5-1-5 hybrid polynomial interpolation function,the simulation of end trajectory is performed by Adams,also in contrast to the simulation,the validity of the inverse kinematics theory solution is verified.The results show that the motion trajecto-ries synthesised based on the 5-1-5 hybrid polynomial interpolation law of motion are smoother and more natural compared to those of the quintic polynomials,the maximum speed of the end motion is greatly reduced,the vibration phenomenon caused by excessive speed fluctuation can be avoided.the sporting characteristics are even better.
作者
张煜
于阳
王学问
徐振邦
ZHANG Yu;YU Yang;WANG Xue-wen;XU Zhen-bang(Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun Jilin 130033,China;Research Center for Materials and Optoelectronics,University of Chinese Academy of Sciences,Beijing 100049,China;CAS Key Laboratory of On-orbit Manufacturing and Integration for Space Optics System,Chinese Academy of Sciences,Changchun Jilin 130033,China)
出处
《计算机仿真》
2025年第9期477-482,514,共7页
Computer Simulation
基金
国家自然科学基金(62235018)
吉林省科技发展计划项目(20220204116YY)。
关键词
偏置铰链
并联调整机构
混合多项式插值
轨迹规划
工作空间
Offset hinges
Parallel adjustment mechanism
Hybrid polynomial interpolation
Trajectory planning
Workspace
