| A new type of planar parallel robot was designed based on a project,research and application of automatic sorting robot for impurities in waste paper,supported by Science and Technology Department of Shandong province.The robot designed in this paperhad received a grant of invention patent.The motion parts of this robot are composed of multi-linkages.Tooling end effectors and seat comprised cyclicclosed-loop constrains through linkages.Servo motors and reducer were placed on the seat to reduce motion inertia,enhance stiffness and load capacity,as well as increase movement velocity.Generally speaking,the work space of parallel robot is smaller than that of serial robot and its control arithmetic is much more complicated because of the strong coupling between shafts.Hence,greater demands are being placed on the processing capacity of controller for parallel robot.But the control arithmetic of parallel robot in this study is simpler than that of serial robot as the dynamic decoupling of twoarticular space servo motors was realized by mechanical method.The structure of this new type of parallel robot was elaborated in this paper.The kinematicspositive solution and inverse solution of this parallel robot was analyzed according to its structure.The mapping relation of tooling end effectors from Cartesian space coordinates to jointspace coordinates on position.The calculation method of the speed Jacobian matrix and Jacobian inverse matrix of sorting robot were derivedand the speed mapping relation from Cartesian space coordinates to joint space coordinates was established.The singular points of the work space of sorting robot were analyzed according to the singularity of Jacobian matrix.The trajectory planning methods were studied based on the established kinematics model and the merits and demerits of polynomials planning,trapezoid speed curveplanning and double S curve planning were compared.The plane two-dimension trajectory planning was extended from one-dimension trajectory planning,and the trapezoidal trajectorie was planned according to the require of plane sorting robot at last.The components of the motion control system were selected based on the application requirement of plane sorting robot.The motion control program of sorting robot and human-computer interface were compiled in CPAC programming environment.The systemic modeling and analyzing of servo motors were carried out in aspects of the adjustment of servo drive parameters,fromthe mathematical modeling of permanent magnet synchronous machine,vector control algorithmmodeling to servo drivecascade control model.The calibration was carried out according to the established mathematical model based on Siemens second-orderoptimal system,typical I typesystem and typical? typesystem.The simulation analysis of the calibrated system was carried out using matlab,which laid a basis for the further study of kinetic model for this plane sorting robot.Finally,the trajectory planning and the necessity of the adjustment of servo drive parameters according to position change of the robot were verified using matlab simulation. |
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