Motion Planning of Compliant Parallel Robot
The research on motion planning of the parallel robot with compliant joints is carried out.According to the characteristics of compliant joint,the system analysis model is built.The dynamics equation is obtained based on Lagrange method.To guarantee the smooth running of the system and suppress the...
| Main Authors: | , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2015-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.02.042 |
| _version_ | 1797819571494715392 |
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| author | Tian Hao Yu Yueqing |
| author_facet | Tian Hao Yu Yueqing |
| author_sort | Tian Hao |
| collection | DOAJ |
| description | The research on motion planning of the parallel robot with compliant joints is carried out.According to the characteristics of compliant joint,the system analysis model is built.The dynamics equation is obtained based on Lagrange method.To guarantee the smooth running of the system and suppress the rate of speed of inertia force,the trapezoidal and S-curve velocity planning method are used for motion planning.The motion planning algorithms of linear and circular trajectories are given.The simulation results show that the motion planning method is effective. |
| first_indexed | 2024-03-13T09:24:38Z |
| format | Article |
| id | doaj.art-d5d6987884ad475e852ed3dedf9f169a |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:24:38Z |
| publishDate | 2015-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-d5d6987884ad475e852ed3dedf9f169a2023-05-26T09:37:27ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392015-01-01391429915463Motion Planning of Compliant Parallel RobotTian HaoYu YueqingThe research on motion planning of the parallel robot with compliant joints is carried out.According to the characteristics of compliant joint,the system analysis model is built.The dynamics equation is obtained based on Lagrange method.To guarantee the smooth running of the system and suppress the rate of speed of inertia force,the trapezoidal and S-curve velocity planning method are used for motion planning.The motion planning algorithms of linear and circular trajectories are given.The simulation results show that the motion planning method is effective.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.02.042Compliant joint;Parallel robot;Dynamics;Motion planning |
| spellingShingle | Tian Hao Yu Yueqing Motion Planning of Compliant Parallel Robot Jixie chuandong Compliant joint;Parallel robot;Dynamics;Motion planning |
| title | Motion Planning of Compliant Parallel Robot |
| title_full | Motion Planning of Compliant Parallel Robot |
| title_fullStr | Motion Planning of Compliant Parallel Robot |
| title_full_unstemmed | Motion Planning of Compliant Parallel Robot |
| title_short | Motion Planning of Compliant Parallel Robot |
| title_sort | motion planning of compliant parallel robot |
| topic | Compliant joint;Parallel robot;Dynamics;Motion planning |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.02.042 |
| work_keys_str_mv | AT tianhao motionplanningofcompliantparallelrobot AT yuyueqing motionplanningofcompliantparallelrobot |