Motion Trajectory Planning of 3-dof Wire-driven Parallel Robot

被引：1
|
作者：
Zhou, Jinpeng [1 ]
Zhong, Zhidan [1 ]
Wang, Zhenzhong [1 ]
机构：
[1] Henan Univ Sci & Technol, Luoyang 471003, Peoples R China
来源：
ADVANCED RESEARCH ON ENGINEERING MATERIALS, ENERGY, MANAGEMENT AND CONTROL, PTS 1 AND 2 | 2012年 / 424-425卷
关键词：
wire-driven; motion trajectory planning; 3-dof; spline function; parallel manipulators;
D O I：
10.4028/www.scientific.net/AMR.424-425.369
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
3-dof wire-driven parallel mechanism is studied in this research. The kinematic analysis of this wire-driven parallel mechanism is given according to analytical method. The method for spline function is proposed to generate a continuous, smooth and noiseless trajectory of the wire. The simulation results, based on simulink, verify the rationality of this trajectory planning algorithm.
引用
收藏
页码：369 / 372
页数：4
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