Structural Design and Motion Parameter Planning of Truss-type Handling Robots
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Abstract
With the rapid development of precision, production capacity, intelligence and other requirements in industrial automation, truss robots need to maintain high speed and large stroke while also meeting performance requirements such as accuracy and stability. Firstly, introduces its basic composition and uses Solidworks software to model the truss robot. Then, conducts a motion demand analysis and cycle planning for its actuator. Finally, combines the traditional trapezoidal acceleration and deceleration algorithm and the traditional cosine acceleration and deceleration algorithm to plan its motion parameters to control the vibration changes of the end handling actuator during the movement process within an acceptable range. This provides a reference for the structural design and stability optimization of truss robots.
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