Research On Control Technology Of Spherical Parallel Mechanisms Driven By Linear Pair

Parallel robot is a nonlinear, time-varying systems strongly coupled, inertia andgravity effect of the system stiffness will change shape with the bit. To solve this problem,scholars have long been committed to a more effective control strategies and methods.The work is mainly focused on the theoretical aspects of "control law","stabilityanalysis", while its "real time" and "effectiveness" lack of thorough validation andassessment system. Based on this topic automotive transmission shift experiment station,mainly for real-time parallel robot control effective field of applied research. For lessDOF parallel mechanism proposed calibration-free linear control theory in motioncharacteristics; for pair of contact force control robot control scheme given a simpleaging. Research and theoretical basis as outlined below:By introducing two degrees of freedom spherical parallel manipulator shifting thecomposition of its trajectory completed. By analyzing the variation of robotic spacelayout-driven shift lever long branch and the completion of the shift action, linear controlmethod is proposed for the joint space only linear interpolation. Finally, this studyvalidated the agencies to exclude the influence of the parameters of the ideal and theactual difference, with free calibration feature.In the shift force analysis, transfer case by studying several existing automotivepower transmission shift mechanism, the subject of parallel manipulator applied to shifttheir midst, because of the shift mechanism is running slow, the inertia force is notobvious, so the use of static analysis methods, using the principle of virtual work forceanalysis performed on the shift mechanism. Deduced Jacobi Jacobi matrix J and forcematrix transpose relationship between JT; then create a parallel shift in the actualmovement of the manipulator Jacobian mathematical model of force by the principle ofvirtual work.In force control, analyzed of the current robot force control method, summed up inthe power control scheme suitable for different conditions in parallel shift robot:"hybridforce/position control" and "torque control." According to their different controlprinciple, system structure, electrical schematics, controller parameter settings, PCLabVIEW and PLC programming sequence programs and other work content aredesigned. to work content.In terms of the force control simulation, based on static analysis and shift powercontrol scheme in front of the design, for shifting robot mechanics simulation carried outthe planning and design of static simulation process. By analyzing the simulation diagram,verified the driving force substantially equal to the external load shifting relationshipbetween the robot drive rod, in line with the actual conditions of automobile transmissionshift operation force of circumstances.Figure54; Table2; Reference55...