Synthesis of Parallel Robots Optimal Motion Trajectory Planning Algorithms

Abstract

The article considers the problem of planning the optimal trajectory of the tripod robot movement. The movement of the output link includes working displacements that are performed for the purpose of machining the workpiece and are completely determined by the surface of the workpiece, as well as the movement of the tool to the beginning of the next stage of processing, which can be relatively free, however, taking into account working area and workpiece surface limitations. The working area is limited by the range of permissible lengths of the drive links and the sign of the Jacobian. Additional restrictions are introduced, related to the dimensions of the workpiece. Chebyshev’s metric makes a significant ambiguity in the choice of the trajectory. Therefore, it is proposed to supplement the original objective function with the Euclidean metric taken with a small weighting factor. Optimization was carried out with restrictions on the size of the working area and workpiece.