| Along with the advent of the era of robots,and the demand of modern production,the applying of the industrial loading car greatly reduces the intensity and danger coefficient of manual operation,and imroves the efficiency of the operation.And the prospect of the industrial loading car will be increasingly broad in the future.Thus to study a loading car automatic platform with higher precision and to design a movement algorithm more stable are important and significance.The calculation algorithm of the new loading car platform movement is studied from the following aspects in the paper.Firstly,through the analysis of the movement indicator about the 8-UPS of the new platform,we establish the inverse solution equation of the loading car platform and design the inverse solution algorithm.Then based on the inverse solution algorithm,we analyse the length,velocity and acceleration of each support bar of the automatic platform.Secondly,based on the analysis of the motion,we put forward three kinds of algorithms for steady movement calculation: movement computation algorithm based on fixed speed value,movement computation algorithm based on gradient table look-up,and movement computation algorithm based on movement planning.The algorithm based on fixed speed value control the platform movement by distributed movement of the platform and timed interpolation method.The algorithm based on gradient table look-up strategy control the platform movement by solving the movement speed of each support bar through the exhaustive method and computing the ratio.The algorithm based on movement planning control the movement of the platform in the planning path by getting the velocity function of each support bar with the movement planning of the automatic platform.At last,we design the algorithm of automatic platform movement calculation by VS2010 and Matlab.Then we design simulation model for automatic platform by SolidWorks2014 and verify the feasibility of the algorithm of the movement calculation. |
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