Study on The Trajectory Planning of Hybrid-Driven Planar 3-RRR Mechanism

摘要：

　　Hybrid-driven mechanism synthesis the constant speed motor and the servo motor as the power source through a multi degree of freedom mechanism.The text study on the trajectory planning of hybrid-driven planar 3-RRR mechanism.Firstly, based on compatible link combinations, all possible basic configurations of planar 3-dof kinematics chains were derived.Based on the requirements of hybrid-driven mode, the kinematics chains were selected one by one Planar 3-RRR mechanism was determined to be the research object finally.Then, based on the conclusions of inverse kinematics analysis, using the cubic spline function on point to point path planning, the servo motor rotation laws were presented.Comparing the different speed situation of constant motor, the influence trends on planning results were analyzed.

关键词： Hybrid-driven Mechanism 3-Dof Planar 3-RRR Mechanism Trajectory Planning

作者: Shengtao Song Ruiqin Li Ailing Wang Yan Gao

作者单位: School of Mechanical Engineering and Automation,North University of china,Taiyuan 030051,China Complete Equipment Research Institute of Shanxi Beifang-fenglei Industry Group Co.,Ltd;Taiyuan 03000

会议类型: 国际会议

会议名称: the 3nd International Conference on Digital Manufacturing & Automation (第三届数字制造与自动化国际会议(ICDMA 2012))

会议地点: 桂林

会议语种:英文

页码: 733-738

在线出版日期: 2012-08-01（万方平台首次上网日期，不代表论文的发表时间）