Trajectory Optimization Algorithm for a 4-DOF Redundant Parallel Robot Based on 12-Phase Sine Jerk Motion Profile

Shengqiao Hu; Huimin Kang; Hao Tang; Zhengjie Cui; Zhicheng Liu; Puren Ouyang

doi:10.3390/act10040080

Actuators (Apr 2021)

Trajectory Optimization Algorithm for a 4-DOF Redundant Parallel Robot Based on 12-Phase Sine Jerk Motion Profile

Shengqiao Hu,
Huimin Kang,
Hao Tang,
Zhengjie Cui,
Zhicheng Liu,
Puren Ouyang

Affiliations

Shengqiao Hu: College of Electrical and Mechanical Engineering, Hunan University of Science and Technology, Xiangtan 411100, China
Huimin Kang: College of Electrical and Mechanical Engineering, Hunan University of Science and Technology, Xiangtan 411100, China
Hao Tang: College of Electrical and Mechanical Engineering, Hunan University of Science and Technology, Xiangtan 411100, China
Zhengjie Cui: College of Electrical and Mechanical Engineering, Hunan University of Science and Technology, Xiangtan 411100, China
Zhicheng Liu: College of Electrical and Mechanical Engineering, Hunan University of Science and Technology, Xiangtan 411100, China
Puren Ouyang: Department of Aerospace Engineering, Ryerson University, Toronto, ON M5B 2K3, Canada

DOI: https://doi.org/10.3390/act10040080
Journal volume & issue: Vol. 10, no. 4
p. 80

Abstract

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To improve high motion accuracy and efficiency in the high-speed operation of a 4-DOF (4 degrees of freedom) redundant parallel robot, this paper introduces a trajectory planning of the parallel robot in joint space based on the twelve-phase sine jerk motion profile. The 12-phase sine jerk motion profile utilizes the characteristics of a sine function. Furthermore, the penalty function is used to optimize the trajectory energy consumption under the constraint condition. The simulation and experimental results show that the energy consumption of joint space is slightly higher than that of the three-phase sine jerk motion profile, but the overall operation is more accurate and stable. Specifically, the sudden change of force and velocity in each joint is eliminated, which is the cause of mechanism oscillation. Moreover, the force of each joint is more average. The results indicate that each movement is closer to the maximum allowable limit and the running efficiency is higher.

Published in Actuators

ISSN: 2076-0825 (Online)
Publisher: MDPI AG
Country of publisher: Switzerland
LCC subjects: Technology: Electrical engineering. Electronics. Nuclear engineering: Materials of engineering and construction. Mechanics of materials; Technology: Electrical engineering. Electronics. Nuclear engineering: Production of electric energy or power. Powerplants. Central stations
Website: http://www.mdpi.com/journal/actuators

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