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.
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 0.935,indicating that the|θ|increase may reduce the platform motion velocity.Finally,through combining the platform's degrees of freedom with the velocity variation law,the equal angular velocity instantaneous centre method was designed.The comparison results show that the use of the equal angular velocity instantaneous center method makes the motion velocity of the platform constant and eliminates the speed reduction caused by the rotation angleθ.
基金项目
陕西省重点研发计划(2019GY-097)
陕西省教育科学规划课题(十三五)(SGH18H158)
国家科技期刊平台
NSTL
万方数据