冗余平面并联机器人工作空间分析及轨迹规划
Workspace Analysis and Trajectory Planning of Redundant Planar Parallel Robot

针对固高三自由度冗余并联平面机器人的结构特点，首先对其正向运动学特性进行了分析，然后对并联机器人的工作空间进行了确定。由于末端执行点位于工作空间不同区域时，反解表达式不同，所以对三自由度冗余并联平面机器人的逆向运动学的特性进行了分段考虑，并由此确定了关节的转角运动范围。随后，采用线性插值方法对关节空间轨迹规划进行了研究和仿真。实验结果证明了并联机器人工作空间和轨迹规划的正确性。
Focusing on the structural characteristics of a redundant parallel robot, we analyze its forward kinematics and then determine its workspace. Because of its execution points in different regions, its solutions for inverse kinematics are different. So we divide the solutions into two parts to obtain the execution points. Then we confirm the angular ranges of joints of the redundant parallel robot, plan its trajectory with the linear interpolation algorithm and simulate the trajectory. The simulation results prove the correctness of the workspace and trajectory of the redundant parallel robot