UVW对位平台运动学分析及轨迹规划.pdfVIP

2024年5月机

械

科

学

与

技

术May2024

第43卷第5期Mechanical

Science

and

Technology

for

Aerospace

EngineeringVol.

43No.

5

黄梦涛，樊鑫锋.

UVW对位平台运动学分析及轨迹规划[J].

机械科学与技术，2024，43（5）：874-881

UVW对位平台运动学分析及轨迹规划

黄梦涛，樊鑫锋

（西安科技大学

电气与控制工程学院，西安710054）

摘要：为控制UVW对位平台匀速运动，对平台做了运动学分析，并针对速度下降问题，设计轨迹规

划方案。首先，以自由度为基础建立平台二维平面模型，求解位置正反解公式，分析奇异位形，构建

三维工作空间。然后，对常用的同步定速法做轨迹分析，由运动轨迹散点图可知：当旋转角绝对值

|θ|增大至15°时，平台运动末端速度与初始速度比值下降为0.935，意味着|θ|增大可降低平台运动速

度。最后，结合平台自由度与速度变化规律，设计出等角速度瞬心法。通过对比可知，使用等角速

度瞬心法平台运动速度保持恒定，消除了旋转角θ引起的速度下降。

关键词：UVW对位平台；旋转角；等角速度瞬心法

中图分类号：TH692.2文献标志码：A

DOI：10.13433/ki.1003-8728文章编号：1003-8728（2024）05-0874-08

KinematicAnalysisofUVWAlignmentPlatformand

ItsTrajectoryPlanning

HUANG

Mengtao，FAN

Xinfeng

(College

of

Electrical

and

Control

Engineering,

Xian

University

of

Science

and

Technology,

Xian

710054,

China)

Abstract：The

kinematic

analysis

of

a

UVW

alignment

platform

was

carried

out

to

control

its

uniform

motion,

and

its

trajectory

planning

scheme

was

designed

to

solve

the

speed

reduction

problem.

Firstly,

a

two-dimensional

plane

model

of

the

alignment

platform

was

established

based

on

the

degrees

of

freedom.

The

positive

and

negative

positional

solution

formulas

were

solved.

The

singular

bit

shape

was

analyzed,

and

a

three-dimensional

workspace

was

constructed.

Then,

the

motion

trajectory

was

analyzed

with

the

commonly

used

synchronous

constant

velocity

method.

The

scatter

plot

of

the

motion

trajectory

shows

that

when

the

absolute

value

of

the

rotation

angle

|θ|

increases

to

15°,

the

ratio

of

the

end

velocity

of

the

platform

motion

to

the

initial

velocity

decreases

to