Motion Control Research Of Plane 5R Symmetrical Parallel Manipulator

Parallel manipulator has been received wide attention in many fields of scientific research and industrial production due to its advantages as high accuracy,big rigidity and strong carrying capacity. The plane 2-DOF parallel manipulators will be used in many fields in the near future due to its simplicity in structure, ease in control and low manufacturing cost, the plane 5R symmetrical parallel manipulator is the typical representative of this kind of machines. Focusing on the plane 5R symmetrical parallel manipulator, this thesis presents a study of the motion control. This paper will do some helpful research in the control theory and control system of parallel manipulator.First, the kinematics of the plane 5R symmetrical parallel manipulator is analyzed. The concerned coordinate system is established, the position analysis and the velocity analysis to the mechanism are derived, and the kinematics transmission relation between the end-effector and the actuation joint angle is also obtained. The workspace and singularity of the parallel manipulator are analyzed. Base on this, path plan of the parallel manipulator is done.Next, based on the Simulink module of MATLAB, the model of the planar 5R symmetrical parallel manipulator is established, and a typical motion simulation for the mechanism is carried out along two aspects: definition the manipulator end-effector's motion condition and the actuation arms'input. Then, taking the tradition PID control theory as the foundation, three typical kinds of control methods: PD control, forward feed PD control and neural network PID control are discussed and used in the planar 5R symmetrical parallel manipulator, and the simulation analysis are done.Finally, the parallel manipulator control system is built which taking PMAC as the core and the kinematics experimental study is carried on to the planar 5R symmetrical parallel manipulator. The performances of high speed, pointing accuracy and so on of the parallel manipulator all meet the requirements.