Research On Motion Control Of Spherical5R Parallel Mechanism

Spherical5R parallel mechanism is one of the spherical2-DOF parallel mechanismthat has the simplest structure, which can finish locating spherical point, so it has gooddevelopment prospects. Basing on studying the kinematics and dynamics of thismechanism deeply, our research group designed and fabricated a model machine, then setup “PC+PMAC” motion control system, but only realized the preliminary motion control.Therefore, this article takes the model machine as research object, and researches thecontrol strategy, the control methods and the problems of their application in some depth.Basing on the previous research results, the positive and inverse solution and theJacobi matrix of this model machine are solved, which can apply to motion controlprogramming directly; In the workspace of this model machine, planning any arc motionpath between two points on the sphere, and studying the application method of thecombined trajectory curve in path planning.Analysing the hardware structure of the motion control system, and dividing thefunction level; According to the hardware conditions, using proper control strategy toachieve motion control of the mechanism; Establishing the mathematical model of thesystem, and building the simulation model through Simulink, using which to study thestrengths and weaknesses of the control strategy that used; Building up the MATLAB+ADAMS combined simulation model, so that the motion state can be seen clearly.Analysing the sofrware structure of the motion control system, and dividing thefunction level; Developing the fully functional control sofrware with a proper computerprogramming language, and discussing the implementation issues of each function level.Basing on the above study, applying the control strategy to the motion control ofspherical5R parallel mechanism, and proving the correctness and validity of the controlstrategy through the comparative analysis of the experimental and simulation results.