Research On Trajectory Planning And Human-Machine Interaction Experiment Of Par4 Parallel Robot

Parallel robots are widely used in industrial production lines.Their advantages of strong load-bearing capacity,high accuracy and reliable performance effectively improve production efficiency and reduce production costs.In the motion control of robots,the performance of trajectory planning method has a decisive influence on the motion state of the end of the robot and the stability of the robot system.Taking Par4 parallel robot as the research object,this paper studies the establishment of velocity function model and the optimization of position interpolation algorithm in trajectory planning,and obtains the trajectory planning method suitable for different working conditions.Finally,a humancomputer interaction platform is built and motion control experiments are carried out.Firstly,the system composition of Par4 parallel robot is introduced,and the mechanical part of the robot is analyzed.The system consists of hardware structure,control mode and software system.The basic analysis of the mechanical body includes the solution of the inverse and forward kinematics model of the robot and the determination of the reachable workspace of the robot.Secondly,based on the different requirements of different working modes for the end motion of the robot,the motion characteristics of different velocity function models in trajectory planning are analyzed and studied.Through mathematical analysis,trajectory modeling and motion control experiments,three kinds of velocity function models are studied,and the performance differences of each speed function model in starting and stopping stage and ensuring system stability are verified.Thirdly,aiming at the instability of the joints of trajectory lines in the process of robot motion,the interpolation algorithms of different positions in trajectory planning are analyzed and studied.Through three steps of trajectory planning,trajectory modeling and motion control experiment,three position interpolation algorithms are studied,and the performance differences of each position interpolation algorithm in reducing mechanical vibration at the corner of the trajectory and fitting degree with the original path are obtained.Finally,a human-computer interaction platform is built in the upper computer of Par4 parallel robot system and the motion control experiment is carried out.Without changing the original control mode,the human-computer interaction platform integrates the pre-work of motion control and simplifies the user's operation steps.Then the motion control experiments of plane and space trajectories are carried out.The actual trajectories of the end of the robot are reflected by the auxiliary device.The problems in the experiments are analyzed and the improvement scheme is put forward.