{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,30]],"date-time":"2026-01-30T08:27:53Z","timestamp":1769761673989,"version":"3.49.0"},"reference-count":27,"publisher":"Cambridge University Press (CUP)","issue":"8","license":[{"start":{"date-parts":[[2022,1,7]],"date-time":"2022-01-07T00:00:00Z","timestamp":1641513600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2022,8]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The trajectory-planning method for a novel 4-degree-of-freedom high-speed parallel robot is studied herein. The robot\u2019s motion mechanism adopts R<jats:underline>R<\/jats:underline>(SS)<jats:sub>2<\/jats:sub> as branch chains and has a single moving platform structure. Compared with a double moving platform structure, the proposed parallel robot has better acceleration and deceleration performance since the mass of its moving platform is lighter. An inverse kinematics model of the mechanism is established, and the corresponding relationship between the motion parameters of the end-moving platform and the active arm with three end-motion laws is obtained, followed by the optimization of the motion laws by considering the motion laws\u2019 duration and stability. A Lam\u00e9 curve is used to transition the right-angled part of the traditional gate trajectory, and the parameters of the Lam\u00e9 curve are optimized to achieve the shortest movement time and minimum acceleration peak. A method for solving Lam\u00e9 curve trajectory interpolation points based on deduplication optimization is proposed, and a grasping frequency experiment is conducted on a robot prototype. Results show that the grasping frequency of the optimized Lam\u00e9 curve prototype can be increased to 147 times\/min, and its work efficiency is 54.7% higher than that obtained using the traditional Adept gate-shaped trajectory.<\/jats:p>","DOI":"10.1017\/s0263574721001892","type":"journal-article","created":{"date-parts":[[2022,1,7]],"date-time":"2022-01-07T07:11:11Z","timestamp":1641539471000},"page":"2666-2682","source":"Crossref","is-referenced-by-count":1,"title":["Trajectory planning of a 4-R<u>R<\/u>(SS)<sub>2<\/sub> high-speed parallel robot"],"prefix":"10.1017","volume":"40","author":[{"given":"Huipu","family":"Zhang","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6980-1004","authenticated-orcid":false,"given":"Manxin","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Haibin","family":"Lai","sequence":"additional","affiliation":[]},{"given":"Junpeng","family":"Huang","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2022,1,7]]},"reference":[{"key":"S0263574721001892_ref5","first-page":"1339","article-title":"Discussion on new configuration design of parallel robot mechanism","volume":"12","author":"Liu","year":"2001","journal-title":"China Mech. 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W. , \u201cResearch and design of three-degree-of-freedom Delta robot control system,\u201d Qingdao University (2018)."},{"key":"S0263574721001892_ref2","unstructured":"[2] Krut, S. , Company, O. , Benoit, M. , et al., \u201cI4: A New Parallel Mechanism for SCARA Motions,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2003) pp. 1875\u20131880."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574721001892","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,7,6]],"date-time":"2022-07-06T02:31:46Z","timestamp":1657074706000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574721001892\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,1,7]]},"references-count":27,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2022,8]]}},"alternative-id":["S0263574721001892"],"URL":"https:\/\/doi.org\/10.1017\/s0263574721001892","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,1,7]]}}}