Problems of Trajectory Planning in Manipulators with Parallel Kinematics

摘要

This paper considers the problems of trajectory planning in manipulators with complex parallel kinematics, for example Delta mechanism and five-link manipulator. The main advantage of parallel kninematics robots is being widely used for precise applications to achieve complex motions and variable poses for the end effector tool. Application of these robots is widespread in areas such as medicine and the electronics industry. Parallel manipulators have better stiffness and dynamic characteristics than manipulators with sequential kinematics. Firstly, the application of manipulators of this type in various fields of science and technology, as well as their advantages and disadvantages, are considered. Secondly, an analysis of the Zlatanov taxonomy is made, and some types of singularities are considered. Thirdly, possible ways of solving problems of parallel kinematic manipulator are indicated. Fourthly, the issue of trajectory planning simulation and implementation of hardware and software are most major field for research in this article. Finally, we discuss promising research directions for solving trajectory planning problems for manipulators of complex kinematics, electronic industry and industry 4.0, industry 5.0.