Research And Experiment On Trajectory Generation Of 6-dof Parallel Robot

Parallel robot has a series of advantages, such as high pose precision, small error, good dynamic performance, large stiffness of structure stability,stable structure and so on. But the structure of the parallel robot determines its forward kinematics solving process extremely complex, at the present there is not a unified high-speed algorithm can quickly complete the solving of forward kinematics of parallel robot.For simple rules, most of the robots use analytic expression to express the trajectory of the end actuator, and then complete trajectory planning and optimization;For complex trajectory,the solution process of analytic expression are extremely complex, even is unable to use analytic expression to describe the trajectory, motion planning, trajectory optimization is impossible, even complex trajectory can be expressed in analytical, tend to generate the trajectory at a slower speed;For only the target trajectory curve, and don’t know its analytic expression, is unable to generate the trajectory of the end actuator.To solve the problem mentioned above,we proposed a fast solution based on kinematic Positive Solutions of iteration method, according to the structural feature of this type of parallel robot, whose correctness and efficiency was verified by using ADAMS software.At the same time this project came up with a trajectory rapid generation method based on JPEG image format, which saw the German PI company’s PI-H850 six degree of freedom parallel robot as the object of study.This method can quickly extract drawing characteristic points of the path,through a high-order fitting the feature point information into the expectation path of the robot.Built upon this method are to experiment method,which were using SimMechanics toolbox of MATLAB software to simulate and using physical experiments of PI-H850 robot to solve.This two methods verified the feasibility of the trajectory rapid generation method of parallel robot based on JPEG image format and laid a solid foundation for parallel robot trajectory planning and motion control.