Trajectory planning of 3-CRU parallel robot with linear kinematics equation

Abstract

With advantages of linear kinematics equation, no singular pose, regular workspace, the best motion/force transmission performance, 3-CRU parallel robot is potential to perform better when rapid and repetitive grasping/handling in packaging and medicine industry. For this reason, this paper deals with trajectory planning of the 3-CRU parallel robot. The trajectory planning method of the 3-CRU parallel robot is proposed for the first time whose advantage is the robot can arbitrarily increase the interpolation period in the Cartesian space without a twice interpolation in the joint space. This method simplifies the interpolation process of trajectory planning, reduces the occupation of computational resources, improves the computational efficiency of the controller, and benefits the real-time online control. For the problem of residual vibration when the robot stops, the input shaping technology is adopted and time delay compensation strategy is proposed, which improves the positioning accuracy of the moving platform and ensures fixed running time. This paper lays a theoretical and practical foundation for the application of the 3-CRU parallel robot in the future.