CAJ | 학술논문

考虑到并联机器人的轨迹规划的特点，采用修正梯形曲线的方法进行轨迹规划，并运用MATLAB和ADAMS软件进行联合仿真实验。实验结果表明：该方法优化了速度和加速度曲线，提高了并联机器人的运动特性，电机扭矩变化平滑，进而降低了对机械系统的冲击。
고필도병련궤기인적궤적규화적특점，채용수정제형곡선적방법진행궤적규화，병운용MATLAB화ADAMS연건진행연합방진실험。실험결과표명：해방법우화료속도화가속도곡선，제고료병련궤기인적운동특성，전궤뉴구변화평활，진이강저료대궤계계통적충격。
In view of the properties of trajectory planning for parallel robots,the trajectory planning method of modified trapezoid curve was introduced and the combinational simulation experiments with software of MATLAB and ADAMS were implemented. The re-sults show that the trajectory planning method optimizes the curves of velocity and acceleration of the robot and improves the motion properties of parallel robots. The torques of motors change smoothly ,which decreases the dash for the mechanical system.