For the purpose of teaching and experiment, a method of plane writing is developed by Two Degree of Freedom (2-DOF) parallel robot manipulator based on LabVIEW programming software. The parallel robot was a plane fivebar mechanism, and the length of the fixed link was zero as the centers of motor axes were coincided. The forward and inverse kinematics solution of the parallel robot could be calculated easily by using plane geometry. The robot writing text was manual input, and the points of the image coordinate system converted to the points of the manipulator coordinate system through selective linear interpolation, points processing and coordinate system conversion. The fast iterative algorithm with continuous cubic spline is used in the acceleration planning curve to ensure the smoothness of the robot writing process.
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贺冬冬,刘婧芳,张良安,王晨晨.并联机器人智能输入写字功能的设计[J].机床与液压,2018,46(9):71-74. . Design of Intelligent Input Writing Function by Parallel Robot[J]. Machine Tool & Hydraulics,2018,46(9):71-74