Research On Modeling And Control Strategy Of Ice Hockey Showdown System Based On Parallel Manipulator

The robotic arm has the advantages of high efficiency,simple maintenance,and high control accuracy,it is used in various manufacturing fields.The system modeling and control strategy research of the robotic arm will directly determine the quality and efficiency of the robotic arm’s work.Based on the background of the "OMRON Cup" Sysmac automatic control application design competition ice hockey confrontation robot,the ball is mathematically modeled,the auther mainly studied the detailed data during the collision of the small ball and the motion trajectory of the robotic,The tools are ansys and adams simulation tools.The main tasks as follows:Based on the mechanical structure of the two-degree-of-freedom parallel manipulator arm ice hockey duel system,the system dynamics model is established by mathematical analysis of the singular configuration based on the working principle of the parallel mechanism and the spatial analysis of the manipulator motion.The mathematical model of the desktop sliding of the ball and the collision of the manipulator is deduced,and the simulation model of the desktop ball collision is established based on the ANSYS simulation software.Through the finite element analysis of the collision process,the stress,speed and energy variation range of the ball before and after the collision are obtained.The kinematics analysis of the parallel arm structure was carried out,the kinematics positive and negative solutions of the parallel manipulator arm were solved,the fuzzy control hit strategy was designed,and the Adams 3D ice hockey matchup control simulation system was built to simulate the real scene,and the matchup system hit was completed.Numerical simulation of the driving process verified the accuracy of the model and the effectiveness of the control strategy.Aiming at the tracking problem of the parallel mechanism,a fuzzy PID controller is designed.The controller uses fuzzy algorithm to adjust PID parameters.The effectiveness of the fuzzy PID algorithm is further verified by numerical simulation.