The Kinematics Performance And Error Analysis Of 6-dofs Controller Based On Parallel Mechanism With Sub Closedchains

With the proposition of industry 4.0,the global industry is constantly upgrading,and the world is gradually entering the era of intelligence.In production,people have higher and higher requirements on technologies such as virtual reality,teleoperation and computer-aided design.In order to reply the development in era,the research on multi-dimensional excitation equipment becomes extremely important.The sixdimensional controller has the six-dimensional input capability of simultaneous translation and rotation,which meets the requirements of the times.In view of this,this paper is based on a macro-dynamic six-dimension controller of 3-5RUU parallel mechanism,which has the advantages of compact structure,high precision and good dynamic characteristics.In order to implement the function of the six-dimensional controller well,the kinematic performance and error of the controller are studied in this paper.The main research contents are as follows.Firstly,the kinematic performance of the six-dimension controller of 3-5RUU parallel mechanism is analyzed.The analytical solutions of the forward and inverse kinematic solutions are obtained by using the method of additional sensor and closed vector.Based on the inverse kinematics solutions,the fixed orientation-workspace is solved by using the extreme position search method,and the relationship between length parameters and working space is obtained by using the single variable method.Through the kinematics performance analysis,the core algorithm for the sixdimensional controller is obtained,which provides the basis for the implementation of its function.Secondly,the length parameters of the six-dimensional controller of 3-5RUU parallel mechanism are optimized.The theory of physical model and genetic algorithm are applied to optimize the parameters with the maximum working space as the objective function and the relationship between each structural parameter and the working space as constraints.By increasing the working space,the motion range of the six-dimension controller becomes larger and the operation is more flexible,thus the motion performance can be improved.Thirdly,a static error analysis is performed on the six-dimensional controller of 3-5RUU parallel mechanism.An error model is established by using the matrix differential method,and the error transfer matrix is also obtained.A single-variable error analysis is performed by using the control variable method.Then the singular value decomposition of error transfer matrix and error sensitivity analysis is performed.The error analysis not only improves the accuracy of the six-dimension controller,but also guides the selection of manufacturing tolerance grade and assembly grade of each component.Finally,application of 3-5RUU parallel mechanism six-dimensional controller to master-slave virtual control system.A master-slave heterogeneous virtual control system is established with the six-dimensional controller of 3-5RUU parallel mechanism as the master manipulator and FANUC＿M-6i B as the slave manipulator.The mathematical model of master-slave control system is established by using the proportional position increment mapping method,and the simulation test is carried out to realize the function of six-dimension controller.This paper analyzes the kinematic performance and error of the six-dimension controller,which lays a theoretical foundation for the design of the follow-up control system.The research of this subject can be applied to the fields that require multidimensional input,such as master-slave virtual control,data visualization and virtual reality.