CAJ | 학술논문

针对500 m口径大射电望远镜馈源支撑并联机器人存在悬索速度突变，导致舱体动态响应影响定位精度的问题，提出了柔性并联机器人系统的运动规划方法。为实现索长与索速度的同时控制，采用机器人关节规划理论的启发式策略生成离散点处的悬索速度；为保证离散点之间索速度与索加速度的连续性，提出了一种三次四次多项式混合插值规划方法。研究结果表明，该运动规划方法生成的索长和索速度数据变化平滑，插值精度满足大射电望远镜的要求，可以解决因索速度突变造成的舱体动态响应和定位精度问题。
침대500 m구경대사전망원경궤원지탱병련궤기인존재현색속도돌변，도치창체동태향응영향정위정도적문제，제출료유성병련궤기인계통적운동규화방법。위실현색장여색속도적동시공제，채용궤기인관절규화이론적계발식책략생성리산점처적현색속도；위보증리산점지간색속도여색가속도적련속성，제출료일충삼차사차다항식혼합삽치규화방법。연구결과표명，해운동규화방법생성적색장화색속도수거변화평활，삽치정도만족대사전망원경적요구，가이해결인색속도돌변조성적창체동태향응화정위정도문제。
Aiming at the problem of the cabin’s dynamic response and positioning accuracy of the Five-hundred-meter Aperture Spherical Telescope caused by the mutation of the cables speed,the kinematics planning method for the flexible parallel robot system is proposed.For accurately controlling the length and speed of cables at the same time,the heuristic strategy of robot joint planning theory is used to produce the cables speed data of discrete points.A hybrid algorithm combining the 3rd and 4th interpolation is proposed to achieve the continuous speed data and the continuous acceleration data between discrete points.The study result shows that the planning data of cables length and cables speed are smooth and that the interpolation accuracy satisfies the need of the Five-hundred-meter Aperture Spherical Telescope. This kinematics planning method can solve the problem of the cabin’s dynamic response and the positioning accuracy caused by the mutation of the cable speed.