Research On 5-DOF Parallel Robot Mechanism Control

Spatial imperfect-DOF parallel robots have received much attention for the advantages of their simple mechanism, low cost in designing, manufacturing, and controlling, comparing with traditional 6-DOF parallel mechanism. But the research development of imperfect-DOF parallel mechanism is very unbalanced, the research of two,3-DOF parallel mechanism have basically been finished, however the research of four, five-parallel mechanism just begin, which limit the development and application of this kind of parallel mechanism to some extent.The subject of this paper is five-DOF parallel mechanism, researching the control of the mechanism.The mechanism have five DOF of three dimensional translation and revolution around Y or Z spindle, which is very promising imperfect-DOF parallel mechanism, thus promises many practical applications such as part assembly ,massage manipulator , and mobile base for a spatial mechanism.First of all, this paper design and complete the hardware of the mechanism control system, on the foundation of analysis DOF and kinematics of the parallel robot. The control system use BLDC motor as servo device, take microcomputer as the processor.Second, under the condition of building up accurate model of 5-DOF mechanism difficultly the control system of the mechanism selected PID controller and Fuzzy controller. Make use of C++ language carried out the PID and Fuzzy control arithmetic, applying VC++ designed the control arithmetic verification procedure.On the foundation of actualizing PID and Fuzzy control on mechanism spur track respectively and analysis of the experiment result, Fuzzy-PID controller was designed for the 5-DOF mechanism control, obtaining preferable control quality.Finally, the control software of the robot system was written using VC++. Taking one of the representative means of Chinese Massage as main study object and ADAMS as platform, inverse kinematics solution of the mechanism spur track was solved.The control of the 5-DOF parallel robot adoping Fuzzy-PID arithmetic was realized using the value of inverse kinematics solution.Experiment result approved the feasibility, correctness and validity of the design of hardware and software of the parallel mechanism control system.