Trajectory planning of a 3-RRRRR planar parallel robot

Abstract

The main goal of this paper is to determine the optimal trajectory planning algorithm of the moving platform of a planar 3RRR parallel robot between two points according to imposed velocity profiles to achieve smooth movement among the imposed trajectories. Two velocity profiles were studied: constant speed profile and trapezoidal profile. These profiles were determined analytically and implemented using MATLAB together with the equations that solve the inverse kinematics problem (IKP) to determine the required behavior of the generalized coordinates complying to the velocity profiles over an imposed trajectory. The movement of the robot was simulated using MATLAB library, Simulink SIMSCAPE and Dassault Systems SolidWorks to impose the same velocity profiles over the trajectory and compare the results with the results from MATLAB.