The influence of the length of parallel mechanism on path planning

Abstract

Abstract The path planning of the parallel mechanism should not only consider the motion path of the end effector but also the motion path of the member. As an important factor affecting the workspace of parallel mechanisms, links do not participate in path planning. To realize the intelligence of path planning for parallel mechanisms, a method to determine and modify the feasibility of path planning is proposed based on the parallel 6-DOF attitude adjustment platform. First, the kinematic inverse solution of the motion path of the end effector is carried out to obtain the motion path of the six struts. At the same time, the corresponding workspace is obtained according to the change in the length of the struts, Finally, based on the intersection of the motion path and workspace of the six struts, the success of path planning is determined, and the corresponding path modification method is given. Through the actual experiment and MATLAB simulation, the results show that this method can avoid the motion stop phenomenon caused by a single strut passing through the non-workspace in the path planning of the parallel mechanism.