三平动绳牵引并联机器人轨迹预处理算法

Three Translational Parallel Robot Trajectory Rope Pulling Preprocessing Algorithm

摘要:

研究了一种新型飞行摄像平台,能够实现摄像机在大范围的三维空间内可以沿任意轨迹快速运动的摄像平台；摄像平台的运动由四台伺服电机带动四根缆绳并联拖动；绳牵引并联机器人是一种将电机的运动和力以绳为介质并行地转换为末端执行器运动和力的装置,具有结构简单、工作空间大、惯性小等优点；运动过程中满足轨迹光滑、不能出现停顿、振动,为了获得连续、平稳、无噪声的轨迹,文章采用轨迹预处理的方法,当出现轨迹不光滑,且影响了拍摄质量的情况下,采用三次样条圆弧插补的方法对其进行光滑处理,仿真结果表明该圆弧插补预处理算法能够很好地解决吊舱在高速运行而引起加速度过大的问题,进而达到提高运行效率的目的。

Abstract:

Flight of a novel imaging platform, the camera can be realized in a wide range of three-dimensional space can quickly track any movement of the camera along the platform. Sports camera platform consists of four servo motor driven four parallel cable drag. Rope traction motor is a parallel robot motion and force parallel to the rope as the medium is converted to the end of the movement and force of the actuator device has a simple structure, large work space, small inertia and so on. Smooth motion trajectory satisfies not pause, vibration, in order to obtain a continuous, smooth, noise-free tracks, track pretreatment methods used herein, the case where occurrence of a track is not smooth, and the impact of the film quality, the use of arc interpolation to smooth their way, the simulation results show that the three circular interpolation preprocessing algorithm can solve the pod at high speeds and accelerations caused by the problem of excessive, and thus achieve the purpose of improving operational efficiency.