Motion Planning for 6-dof Assembly Part Positioning and Alignment Adjustment
نویسندگان
چکیده
In this paper, a 4-PPPS redundantly actuated parallel mechanism and its motion planning method are proposed. The mechanism can be applied to the positioning and alignment of large subassembly in engineering assembly. The optimization of the positioning and alignment trajectory is performed with the minimum energy consumption as the objective function. The system test data shows that the assembly platform and the motion planning method can satisfy the requirements of accuracy, efficiency and stability of the positioning and alignment operations.
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