The multi-joint mechanical arm has become the necessary production equipment. This paper aims to research space trajectory planning of multi-joint bionic scorpion manipulator to realize the polarizer attachment motion. By modeling of the structural connection relationships of bionic scorpion manipulator, the quintic polynomial method can be used for modeling of joint space trajectory planning algorithm. Working space of bionic scorpion manipulator for attachment motions can be determined by means of simulations. The underactuated and fully actuated motions are compared to analyze the planned space trajectory by motion simulations of different driving modes. This method can provide the high practical value and application prospects for the space trajectory planning during the dynamic simulation.
Simulation analysis of space trajectory planning for multi-joint bionic scorpion manipulator
International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023) ; 2023 ; Xiamen, China
Proc. SPIE ; 12759
10.08.2023
Aufsatz (Konferenz)
Elektronische Ressource
Englisch