| The positioning accuracy of macro and micro dual-drive parallel positioning platform is an important technical indicators.There are two factors affecting the position accuracy:1.the control accuracy of control system;2 the accuracy of mechanical transmission.Based on this study DOF macro and micro laboratory which designed by the laboratory.According to the macro and micro platform,we building the kinematics and dynamics model and designed the control policy of the macro platform and micro platform.Try to eliminate the static error of macro platform and micro platform.Then,analysis the flexible error of micro platform and the mechanism error of macro platform.Finally,using the particle swarm optimization to compensate the macro errors.Specific studies are as follows:Agency overview.Briefly describes the overall structure of the macro and micro parallel positioning platform and various other components.On this basis,identifies the main object of study for the macro platform and micro platform.Based on the inverse kinematics model to establish a macro and micro platform,combined with the use of macro parameters using MATLAB to numerical simulation.Macro platform and micro platform are both Stewart parallel mechanism,they have the same kinetic model.Therefore,based on inverse kinematics,using Lagrangian dynamics model to establish an ideal organization,and then based on MATLAB to numerical simulate the designed macro platform.Then the macro platform for adding the agency joints' Cullen-Sticky' friction model,dynamic model contains joint riction,and the iterative solution.Designed the servo control system for macro platform and micro platform.The macro platform controlled by hydraulic drive platform.Based on fuzzy PID control strategy designed the servo control system for macro platform;Using Separation integral PID control strategy designed the servo control system.Finally,using MATLAB/Simulink analysis the servo control system.The error analysis of macro platform and micro platform.Because the macro platform transmission process hinged device,it can brings the clearance error,build macros platform error model and using matrix differential method to analysts the error affected the pose error macro platform mechanism for the properties and use ADAMS institutional contain errorssimulation.Because the micro platform,between the lower hinge are made of a flexible hinge connection,rely on the elastic deformation of the hinge rod end platform for motion,and therefore does not contain micro platform hinge gap,but will bring a flexible error.In this paper,the establishment of flexible body struts Abaqus using Abaqus established import ADAMS flexible body struts,on the establishment of micro strut platform with flexible virtual prototype model,and then the error analysis of flexible micro platform.For institutions error macro platform,we use software compensation method for to compensate the error of the end pose,considering the error model in various error sources.Adopt a macro error of PSO compensation platform brings,there is an inter-agency position and attitude error coupling relationship PSO algorithm using MATLAB software modeling calculations,solving the drive rod at a given trajectory compensation amount of input parameters to achieve macro the end of the station's position and orientation error compensation. |
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