Research On Trajectory Planning And Offline Teaching Simulation Of High-speed Parallel Manipulator

High-speed parallel manipulators are applied widely in the food,electronics,medical and other fields,its reliability and using kind easily become the focus of attention.As an important part of control,trajectory planning has a big influence to high-speed parallel manipulators' reliability.And as the tool of user manipulates the parallel manipulator to complete the specified task,whether the teaching software's interface is friendly,the operation logic is simple to determine the ease of parallel manipulator.In this paper taking the parallel mechanism as the research object,the trajectory planning method is studied and the off-line teaching simulation software is developed.The research contents and results are as follows:In the aspect of kinematics and dynamics analysis,based on the original kinematics model of Delta parallel manipulator,the jerk inverse model is established;Using multi-domain unified modeling language Modelica to establishing the Delta parallel manipulator dynamics model,and the simulation verifies the correctness of the model,provides the necessary theoretical basis for the trajectory planning and off-line teaching simulation in subsequent.In the aspect of trajectory planning,for the typical grabbing operation of high speed parallel manipulator,a trajectory planning method based on improved Gutman motion law is proposed.In the door-shaped path using the kinematics model and the dynamic model of Delta parallel manipulator gives its kinematics and dynamics typical parameters.And the trapezium movement based on sinusoidal modification were compared and analyzed,the results shows that the trajectory planning method proposed in this paper can eliminate the jerk jump of the beginning and end of motion,and can improve the dynamic performance of the manipulator effectively.On this basis,the time-minimal third-order trajectory planning algorithm based on the improved Gutman motion law is proposed.The algorithm can calculate the time-minimal trajectory under the given conditions.In the aspect of off-line teaching simulation,based on the analysis of the functional requirements of the Delta parallel manipulator teaching software,the interactive interface of teaching software was developed by using WPF framework.Combined the kinematics models,the gesture description of the moving parts of Delta parallel manipulator was analyzed and the real-time interactive manipulation between the control software interface and the manipulator simulation model was realized.The programming module of Delta parallel manipulator is developed.Combined the trajectory planning method the movement simulation of the Delta parallel manipulator is realized in the off-line teaching software.