Research And Design Of Control System For Non Biomimetic Parallel Walking Robot

The non-biomimetic parallel walking robot is a new type of robot in the current research field,which has many advantages compared to ordinary parallel walking robots.For example,it is relatively easy to control the non-biomimetic parallel walking robot,and it has a smaller self-load and better dynamic performance.In addition,compared to general walking robots,the non-biomimetic parallel walking robot has strong load-bearing capacity and large stiffness.Therefore,it can be seen that the nonbiomimetic parallel walking robot has broad development prospects in the history of robot development.With the continuous development of the field of robotics,people’s exploration in various directions of robots is constantly deepening,and there is an urgent need for a robot with strong load-bearing capacity and less affected by the environment.Therefore,as a relatively new subject in the field of robotics,the nonbiomimetic parallel walking robot is gradually being researched in depth.This paper designs the motion control of non-bionic parallel walking robots based on the Changchun Science and Technology Plan Project "Application Research of Nonbionic Stair Climbing Firefighting Robot".With the high-speed parallel characteristics of FPGA as the focus,the paper analyzes and simulates the kinematics of non-bionic parallel walking robots,as well as designs and analyzes the software and hardware.Ultimately,the paper designs a complete motion control system for non-bionic parallel walking robots,and implements motion control of robots through the designed system.Firstly,the kinematics analysis of non-bionic parallel walking robots is carried out,and the forward and inverse kinematics are calculated,which provides theoretical support for controlling robots.The structure and properties of the robot are determined through joint simulation of the robot.By designing the software and hardware structure,the complete motion control system of non-bionic parallel walking robots is completed.Through the designed system,motion control of non-bionic parallel walking robots is achieved.This paper designs a complete control system for non-bionic parallel walking robots.Unlike the motion control system of conventional walking robots,the design of non-bionic parallel walking robots in this paper adopts Lab VIEW as the interface design of the upper computer,and the signal transmission of the control part uses FPGA program design.This method realizes the output of pulse signals and direction signals for motion control of non-bionic parallel walking robots,detection of limit signals of robots,and detection of signals for controlling robot motion.The upper computer interface of the Lab VIEW environment realizes the serial communication between the PC and FPGA.The advantage of this experiment is that the PWM module can be added according to experimental needs,and the whole system is relatively simple and easy to operate.The experiment proves that the overall kinematic analysis of the robot is correct,the forward and inverse calculations are accurate enough,the design of the control system is accurate,the upper computer interface and FPGA programming are correct,and the design of the motion control system for non-bionic parallel walking robots is realized.Finally,on the basis of this design,various modes of motion are correctly implemented to achieve the experimental purpose.