Method of Multi-objective Trajectory Planning of Parallel Mechanism Based on the Kinematics

doi:10.3901/JME.2019.15.163

Abstract

Abstract: A singular-free trajectory planning method based on the kinematics is proposed to meet the various requirements of the assembly task. On the basis of kinematic analysis of parallel mechanism, a sufficient and necessary condition is proved for realizing the singular-free trajectory planning of parallel mechanism under certain pose conditions. Then a five-order B-spline curve is employed to parameterize the trajectory of the end-effector of the parallel mechanism. Three kinematic indexes related to the assembly task, that is, the total adjustment time, the jerk of each link and the difficulty of aligning the pose of the end-effector, are selected and defined as three objective functions to evaluate the performance of the trajectory. In a simulation case, the artificial immune algorithm is used to optimize the multi-objective optimization model of the parameterized trajectory and thirty-six B-spline parameters of the trajectory are obtained. Finally, the optimal trajectory of the parallel mechanism and each link satisfying the requirement of assembly task are obtained by means of average optimal evaluation method.

Key words: B-spline curve, multi-objective optimization, parallel mechanism, trajectory planning

CLC Number:

TP242

CHEN Dong, LI Shiqi, WANG Junfeng, HE Wang, FENG Yi. Method of Multi-objective Trajectory Planning of Parallel Mechanism Based on the Kinematics[J]. Journal of Mechanical Engineering, 2019, 55(15): 163-173.

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