Research on Trajectory Planning Method of Pairwise Four Degree-of-Freedom Adjusting Mechanism

Abstract

Aiming at the assembly of large-scale barrel parts, this paper puts forward a four-degree-of-freedom attitude adjustment method used in pairs, and studies the trajectory planning strategy of the joint space of the attitude adjustment mechanism. Based on the forward and inverse kinematics model, the mapping relationship between the motion characteristics of operation space and the motion characteristics of joint space is established by using the 3-4-5 polynomial motion law in joint space, and the trajectory is simulated. The results show that after trajectory planning in joint space, the equipment is compliant and impact-free in the whole attitude adjustment process, and it is feasible.