Research On Rolling6U Parallel Robot

Mobile robot is one of the focuses of the robotics research field at recent decades, and there is a huge potential application of it. The structure and control system of traditional legged and new type of bionic robot is relatively complex, which cumbers its application in industry, agriculture, medical, city security, national defense, space exploration and other fields. To reduce the complexity of structure and control system, a lot of research on its motion and mechanism is carried out. A new kind of rolling6U parallel mechanism is presented, and the motion control of it is studied in this paper.This paper mainly focuses on the structure design of a new type rolling6U parallel robot, and expatiates a control principle of it. The structure model and3D virtual prototyping model is established. Then the movement principle of the rolling6U parallel mechanism is illustrated based on the research of four-bar linkage analysis. A kinematic controlling strategy is designed based on the kinematics theory to optimize the movement meaning of this mechanism.From the Angle of kinematics and dynamics of the mechanism has carried on the theoretical analysis and calculation.For the analysis of the stability of institutions, discussed mechanism characteristic parameters influence on rolling walking ability. Finally, the motion simulation of this6U mechanism is put forward using ADAMS. Through comparing the simulation results and the theoretical calculation results, the feasibility of the mechanism motion and the correctness of the theoretical calculation are verified. As the results of these researches the optimized method of designing robot parameters and control system has been illustrated.In the study of6U rolling motion characteristics, a motion path planning method has been carried out. A modular intelligent motion algorithm has been presented. The modular design enables the planning of the rolling path automatically and intelligently. In this paper, a mathematical model of this motion trajectory is built up, and Matlab is used to describe this mathematical model so that the programming of motion control is achieved.Through the designing and programming with PMAC multi-axis motion controlling card, this paper proves that the way of using PMAC multi-axis motion control card as the core and CCD as the visual system is feasible.,and debugs the model machine. At the end of this paper, the possibility of altering this open-loop system to a closed-loop by repeating the CCD data is discussed.