基于5R并联堆垛机构的运动学分析与示教再现

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A design method that intelligent control of motion trajectory based on 5 R parallel stacking mech- anism was investigated. By analysis the control system and the inverse kinematics of the 5R mechanism, it can be concluded when the 5 R is given two original moving parts, it can uniquely identify the pose of the rod end of the implementation of parts, in seeking the position and orientation inverse solution with the minimum principle that the square of the residuals between the prime mover rotation angle of adjacent track points, theonly connecting rod track can＇ t determine the only two original moving parts. It is a good method to solve the intelligent control of the 5 R institutions by teaching and playback method. It can also reduce the programming effort and improve the efficiency of stacking work.研究了一种基于5R并联堆垛机构的运动轨迹智能控制的设计方法．该方法通过对5R机构控制系统和逆运动学的分析，给定5R机构2个步进电动机的位置，从而确定连杆末端执行件的位姿，通过使每个电动机角度变化之差平方和最小的方法来解决求运动学逆解时唯一的连杆执行件轨迹点并不能确定唯一的2个步进电动机位姿的问题．示教再现方法很好地解决了5R机构的智能控制，可以减少编程工作，提高堆垛工作效率．