| This thesis focuses on the 6-SPS parallel manipulator.Semi-physical real-time online simulation control scheme for parallel manipulator based on AD5436.On the basis of kinematic analysis on platform,mechatronical simulation on the 6-SPS parallel manipulator is studied from several layers such as the virtual prototype modeling,trajectory planning,parameter setting,motion control simulation and simulation analysis.On the established physical prototype platform,a semi-physical real-time online simulation control system based on AD5436 is designed using dual closed-loop control principle,and experiments are performed to verify the correctness and feasibility of the theory and platform.The main works of the research are as follows:1.Coordinate-transformation matrix between moving coordinate system and static coordinate system is derived by the matrix analysis method,inverse kinematics model of6-SPS parallel platform is built,and the formula for calculating the volume of the telescopic rod has been driven.2.The mathematical model of platform position inverse solution is established in Matlab/Simulink,and planned the trajectory.Given a spiral trajectory to moving platform,and obtained the corresponding telescopic rod.This rod is used as spline curve of simulation.3.3D model of 6-SPS parallel platform is established by SolidWorks.The simulation performed based on SolidWorks Motion verified the reasonableness of mathematical model and the correctness of trajectory planning.4.The 6-SPS parallel robot control system is designed based on the PC and AD5436 control board.The interface between the motion control board and the servo drive is designed according to the required functions,which provides the conditions for the control.5.The control model which is downloaded to the AD5436 simulation controller to realize real-time on-line monitoring and detection of the control system in order to achieve accurate control of the 6-SPS parallel robot is developed based on double closed-loop control structure. |
PDF Full Text Request