机械科学与技术2024，Vol.43Issue(5)：874-881,8.DOI:10.13433/j.cnki.1003-8728.20220275
UVW对位平台运动学分析及轨迹规划
Kinematic Analysis of UVW Alignment Platform and Its Trajectory Planning
摘要
Abstract
The kinematic analysis of a UVW alignment platform was carried out to control its uniform motion,and its trajectory planning scheme was designed to solve the speed reduction problem.Firstly,a two-dimensional plane model of the alignment platform was established based on the degrees of freedom.The positive and negative positional solution formulas were solved.The singular bit shape was analyzed,and a three-dimensional workspace was constructed.Then,the motion trajectory was analyzed with the commonly used synchronous constant velocity method.The scatter plot of the motion trajectory shows that when the absolute value of the rotation angle|θ|increases to 15°,the ratio of the end velocity of the platform motion to the initial velocity decreases to 0.935,indicating that the|θ|increase may reduce the platform motion velocity.Finally,through combining the platform's degrees of freedom with the velocity variation law,the equal angular velocity instantaneous centre method was designed.The comparison results show that the use of the equal angular velocity instantaneous center method makes the motion velocity of the platform constant and eliminates the speed reduction caused by the rotation angleθ.关键词
UVW对位平台/旋转角/等角速度瞬心法Key words
UVW alignment platform/rotation angle/equal angular velocity instantaneous centre method分类
机械制造引用本文复制引用
黄梦涛,樊鑫锋..UVW对位平台运动学分析及轨迹规划[J].机械科学与技术,2024,43(5):874-881,8.基金项目
陕西省重点研发计划(2019GY-097)与陕西省教育科学"十三五"规划课题(SGH18H158) （2019GY-097）
