CAJ | 학술논문

提出了高速Delta并联机器人拾放操作轨迹的一种实现及优化的方法。在笛卡儿空间中利用Lamé曲线平滑竖直运动与水平运动之间的直角过渡部分，确定运动轨迹形状。用高阶多项式运动特性对一维曲线弧位移进行三维规划，获得运动轨迹插补点的位置、速度和加速度信息。通过Delta机器人运动学模型和动力学模型将笛卡儿空间内的轨迹信息映射到机器人关节空间，以关节电动机的近似输出能量函数为目标优化 Lamé曲线的参数。在试验样机平台上进行测试，测量不同 Lamé曲线参数的运动轨迹在运动停止后机构残余振动的情况，通过比较验证了参数优化后的轨迹具有良好的实际性能，能够获得满足实践要求的轨迹曲线。
제출료고속Delta병련궤기인습방조작궤적적일충실현급우화적방법。재적잡인공간중이용Lamé곡선평활수직운동여수평운동지간적직각과도부분，학정운동궤적형상。용고계다항식운동특성대일유곡선호위이진행삼유규화，획득운동궤적삽보점적위치、속도화가속도신식。통과Delta궤기인운동학모형화동역학모형장적잡인공간내적궤적신식영사도궤기인관절공간，이관절전동궤적근사수출능량함수위목표우화 Lamé곡선적삼수。재시험양궤평태상진행측시，측량불동 Lamé곡선삼수적운동궤적재운동정지후궤구잔여진동적정황，통과비교험증료삼수우화후적궤적구유량호적실제성능，능구획득만족실천요구적궤적곡선。
A method of trajectory planning for high-speed Delta parallel robots in pick-and-place operations is presented. The transitions between the vertical and horizontal segments of the operation trajectory are smoothed with Lamé curves, thus determining the overall shape of the trajectory in Cartesian space. High order polynomials are adopted to plan the one-dimensional displacement along the curve and generate the position, velocity, acceleration information necessary for the interpolation points. Trajectory information in Cartesian space is mapped back to the joint space by using the Delta robot’s kinematics and dynamics models. In order to optimize the Lamé curve’s geometric parameters, an energy-like function based on joint torques and angular rates is thus defined. The trajectories planned are finally tested on an experimental platform. The residual vibrations as the robot’s end-effector reaches the terminal are recorded and then compared under different Lamé curve parameters. These results verify that the optimized trajectory has a better performance practically. The planning method discussed could lead to trajectories which satisfy operational requirements.