基于轨迹晶格与综合动力灵巧度的Delta机器人轨迹规划

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摘要针对高速、柔性化Delta机器人轨迹规划中的精度与振动稳定性问题，提出一种基于轨迹晶格与综合动力灵巧度的轨迹规划方法。首先，根据前期的研究工作，建立了含关节间隙的Delta机器人系统完整弹性动力学模型；其次，定义了Delta机器人综合动力灵巧度，并基于此，提出了操作空间中微小晶格与轨迹晶格的概念；然后，以综合动力灵巧度为依据，考虑各种约束条件，在轨迹晶格中进行基于修正梯形模式的轨迹规划；最后，利用激光跟踪仪与动态信号采集设备，对提出的轨迹规划策略进行了实验分析，结果表明：所提出的轨迹规划策略能够精确、稳定地实现机器人的抓取与放置动作。

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	郑坤明1
	2 张秋菊1
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关键词 ： Delta机器人, 轨迹晶格, 综合动力灵巧度, 完整弹性动力学模型, 轨迹规划

Abstract：

Aim at the problem of accuracy and vibration stability for the high speed flexible Delta robot’s trajectory planning, a trajectory planning method based on the trajectory lattice and the comprehensive dynamics dexterity is proposed. Firstly, according to previous research work, the complete elastic dynamic model of the Delta robot with joint clearance was established; Secondly, defined the comprehensive dynamics dexterity of Delta robot, and based on this, the concept of the lattice and the trajectory lattice in the operation space are presented; Then, based on the comprehensive dynamics dexterity，consider various constraints, the trajectory planning based on the modified trapezoidal mode in the trajectory lattice is carried out. Finally, using laser tracker and dynamic signal acquisition device, by use of experiment to analyze trajectory planning strategy, the results show that the trajectory planning strategy proposed can achieve the robot's grasping and placing action accurately and stably.

Key words： Delta robot trajectory lattice comprehensive dynamics dexterity complete elastic dynamic model trajectory planning

收稿日期: 2015-06-23 出版日期: 2016-11-15

引用本文:

郑坤明1,2 张秋菊1,2. 基于轨迹晶格与综合动力灵巧度的Delta机器人轨迹规划[J]. 振动与冲击, 2016, 35(22): 31-37.
ZHENG Kunming1,2 ZHANG Qiuju1,2 . Based on the trajectory lattice and the comprehensive dynamics dexterity to carry out Delta robot’s trajectory planning. JOURNAL OF VIBRATION AND SHOCK, 2016, 35(22): 31-37.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2016/V35/I22/31

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