Kinematic Analysis And Trajectory Planning Of3-DOF Serial-Parallel Robot

With progress of society and development of technology, such as robotics, machine vision, robot has been gradually applied to the modern industrial production of all walks of life.But now in the food processing industry, sorting, packing still are done by manual operation,So that waste a great deal of labor force in the operation of simple, intensity bigger, but also reduces the yield of product, increase the production cycle.In some of the food sorting process,food disorder be transported on the conveyor belt,conveyor belt speed is slow,when sorting requirements accurately locate food,and quickly pick up the food, placed in the designated inside the box.Therefore in accordance with the above requirements,This paper developed a food sorting operation, combined with machine vision technology oriented high speed light serilal-papallel robot,the robot driven by the motor,consists of ball screw and plane composite group of six bar linkage,with three degrees of freedom.it can be implemented in the vertical surface of high-speed translation finished sorting operation, the water level low speed linear motion.the paper mainly studies the kinematics model, work space and trajectory planning, specific content is as follows:Analyzing the structure characteristics of high speed and light serial-parallel robot, the most important of the parallel mechanism to serial-parallel robot has carried on the organization structure design, make it has the ability of high speed movement. Inverse the spatial location of serial-parallel robott inverse position, positive position analysis, obtained the mathematical model of inverse position and positive position, solution with Matlab for example, the reverse solution model is proved to be correct.Through analysis for mathematical model of robot inverse position and positive position to calculate the velocity and acceleration of mathematical model, get the Jacobian matrix of the robot, according to the intrinsic characteristics of parallel mechanism, solving and analysis of its strange posture, to be prepared for the further research work.Polar search research method is used to analyze workspace of the high speed light3-DOF serial-parallel robot of parallel mechanism, the end of actuators can be up to the workspace. Research on influencing parameter of working space, the influence of parameters on the workspace area, interference of agencies determine the relative position of the slave arm.According to the motion of the robot starting and ending position of the characteristics of velocity and acceleration is zero, according to the trajectory of the CAM curve model, according to the analysis and computer simulation, from several trajectory in the function to select the most suitable for the curve of trajectory planning of high speed light serial-parallel robot.