کد مقاله کد نشریه سال انتشار مقاله انگلیسی ترجمه فارسی نسخه تمام متن
7179029 1467709 2018 20 صفحه PDF سفارش دهید دانلود رایگان
عنوان انگلیسی مقاله ISI
Optimal path planning for a new type of 6RSS parallel robot based on virtual displacements expressed through Hermite polynomials
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موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Optimal path planning for a new type of 6RSS parallel robot based on virtual displacements expressed through Hermite polynomials
چکیده انگلیسی
The paper presents a method of determining the optimal trajectory of the characteristic point belonging to the end effector of a parallel robot with six degrees of freedom type 6RSS. The parallel robot is composed of a fixed plate and a mobile platform connected by six independent kinematic chains. Each of the six kinematic chains was part of one rotational actuating joint and two spherical joints. Based on the kinematic analysis, the motions of the end effector element were defined for manipulation operations using polynomial expressions of geometric parameters as time functions. By means of computational programs the polynomial variation of the motion parameters was determined. The data obtained were analysed on the basis of CAD programs through which the angular velocities of the actuating arms were determined when the end effector followed the trajectory described by the Hermite function. Using the same Hermite polynomials, two methods for optimizing the trajectory of the characteristic point were developed, the first intended to minimize its length and the second to minimize the runtime of the trajectory.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 126, August 2018, Pages 14-33
نویسندگان
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