Trajectory Planning Research of Spherical 2-DOF Parallel Manipulator with Actuation Redundancy

This paper present formation principle of any spherical trajectory curve, and kinematic track of spherical 2-DOF parallel manipulator with actuation redundancy was planned by trajectory planning method that acceleration is continuous segmental function in Cartesian space, in order to guarantee that angular displacement, angular velocity and angular acceleration curve is smooth and continuous, and forward kinematics was simulated by virtue of ADAMS software. At the same time, based on dynamic analysis, smooth and continuous driving torque curve of three actuated joints were obtained by force optimization method. This kind of trajectory planning method laid the foundation for redundant actuation control of the manipulator.