Modeling And Control System Design Of Parallel Robot Driven By Mobile Module

With the rapid development of the robot field,the research on a new type of parallel robot with mechanical structure has attracted extensive attention.Because of its high coupling characteristics,the calculation of the research on the parallel robot is more complex and the modeling is difficult.This paper mainly studies the parallel robot platform built by myself.Based on the dynamic model,the PID control algorithm based on the calculation moment method is used to design the control system,and the trajectory tracking control simulation and experiment are carried out.The experimental results are good,which can show the rationality and effectiveness of the control system designed by myself.The results of each chapter are as follows:1.The background,significance,characteristics,development at home and abroad,and the main research status of the modeling and control system design method of the parallel robot studied in this paper are briefly introduced;2.SolidWorks three-dimensional modeling of the new three DOF parallel robot driven by mobile module is carried out,the mechanism configuration of the new parallel robot is analyzed,its fixed platform coordinate system and moving platform coordinate system are established,the forward kinematics and inverse kinematics of the parallel robot are analyzed,and the forward and inverse kinematics models are established;3.Based on the kinematic model,the velocity and acceleration models are established,and the Jacobian matrix is solved.According to the Jacobian matrix solution,the singularity and joint constraints of a new type of 3-DOF parallel robot driven by mobile module are analyzed.Finally,the reachable workspace is simulated by limit boundary search method;4.The Newton Euler method is used to analyze the forces on each part of the new three DOF parallel robot,and the dynamic model is established according to the virtual work principle.A PID control method based on the calculation moment method is studied.In the case of model parameters deviation and external interference force,the simulation experiment of trajectory tracking control is carried out,and the simulationresults verify the rationality of the algorithm sex;5.Introduce the software of CoDeSys,the basic structure of the control system hardware,write the control algorithm program,design the robot operation interface,and verify the effectiveness of the designed control system through the trajectory tracking control experiment;6.Summarize the work of this paper,and look forward to the future research direction.