Study On The Theory And Experiment Of The Force / Position Hybrid Control Of 5-UPS/PRPU Parallel Machine

PMT (Parallel Machine Tool) is the production of many subjects, including parallelrobotics, electronic engineering, computer science, automatic control and so on.Redundantactuation can help Parallel Machine Tool enlarge effective workspace, eliminate thesingular configurations, improve its bearing capacity. This paper focuses on the researchof correlated aspects of the 5-UPS/PRPU Parallel Machine Tool with redundant actuation.The main contributions are as follows:In this paper, the development and the main advantages and disadvantages of parallelmachine tool are introduced. And the role played by the redundant actuation anddevelopment at home and abroad are described.The dynamic of the parallel machine tool is analyzed, and use the method of variableweighting coefficient to optimize the driving force of redundant chain. Then the dynamicsimulation of the cutting process is carried out by ADAMS software, which provides atheoretical basis for hybrid force/position control.The control strategy of redundant chain which adopt based on the time control modeand predict the moving trend control mode avoid the real-time problem of computing acomplicated formula.The experimental investigation for the PMT with redundant actuation is carried outand the dynamic performance is detected. The experimental result shows that theredundant actuation not only can eliminate the creeping phenomenon of the slider in themiddle constraint limb, improve the positioning accuracy and then can improve thedriving force of non-redundant chain and reduce the peak。AC servo motor position loop, speed loop and current loop three-ring are designed,and propose the high-speed high-precision control system strategy. The simulationexperiment is carried out, which paves the way for the high-speed high-precision controlexperiment...