Method for planning feedrate of transmission mechanism based on physical constraints of joints

A transmission mechanism feed rate planning method is applied to a transmission mechanism with one or more shafts, and comprises the following steps: setting a path, and setting a plurality of coarse interpolation points on the path; calculating the shaft position, the shaft speed, the shaft acceleration and the shaft torque of each shaft on each coarse interpolation point based on the three-dimensional space information, the inverse kinematics function, the differential means and the dynamic equation of each coarse interpolation point; calculating an initial feed rate upper limit of the transmission mechanism on each coarse interpolation point based on the shaft speed, the shaft acceleration and the shaft torque; executing a bidirectional scanning algorithm based on the shaft acceleration and the shaft torque so as to update the feed rate upper limit on each coarse interpolation point; and obtaining the upper limit of the initial feed rate on each coarse interpolation point, wherein the minimum one of the fo