Trajectory Planning of Parallel Mechanism for Pouring Robot

Aiming at the problem of singular area in the working space when designing the parallel casting mechanism of the pouring robot, and the sensitivity of the pouring liquid to acceleration of the ladle, we propose a genetic fusion algorithm of particle swarm optimization with angle and distance observers to find the optimal control point. Numerical analysis shows that it is feasible to change the tilting angle of the ladle to make it traverse the singular regions safely. According to the simplified method of single pendulum, the sloshing model of pouring liquid is established, and the segmented acceleration planning method considering the sloshing of pouring liquid is proposed in combination with the characteristics of high-speed cam motion. Numerical and experimental studies show that the segmented acceleration planning method can make the parallel pouring mechanism reach the set position in the shortest time while moving along the planned trajectory, and ensure that the sloshing of pouring liquid is within the safe range.