Control System And Experimental Research Of 2UPU-SP+RR Five-axis Hybrid Robot

The hybrid robot is based on a parallel mechanism,and through a complete analysis of the parallel mechanism,the swinging head is connected in series on the basis of the parallel mechanism to form a hybrid robot system.It combines the advantages of parallel and series connection,with strong load-bearing capacity,less deformation,relatively small inertia,and increased workspace.At present,hybrid robots are mainly used in the processing and development of automotive and aviation components.However,currently there are very few control and experimental studies on hybrid robots,so the main content of this article is the control system and experimental research of hybrid mechanisms.First,the forward and inverse solutions of the kinematics of the five axis hybrid robot are obtained by using the conditions of the known link length and rotation angle to obtain the forward solution,and the inverse solution is obtained by using the unit direction vector of the known end position and space.There are many forward solution methods,which can be divided into numerical and analytical solutions,as well as solutions with different input methods such as rod length and angle.It is necessary to compare the advantages and disadvantages of each algorithm,as well as the accuracy of various solution methods,to determine the desired forward and inverse solutions and use them.Secondly,based on the prototype of a five axis hybrid robot,circuit design and wiring are carried out.After completing the circuit,Servo Studio is used to set parameters,map data,extract I/O,test jog and basic instructions,extract data,and other operations.Then,forward and inverse solutions are inputted in the PMAC environment.After correcting and converting the forward and inverse solutions,they are inputted into the PLC to test the motion under the forward and inverse solutions,and parameters and variables are set,Design alarm function and write motion program.Then,use VS2015 to design the upper computer interface,plan and design the upper computer interface,and write programs to achieve functions such as connecting communication,sending and receiving data,real-time display,and downloading programs.Import the model from Solidworks into V-rep,use V-rep to build a virtual prototype,and after adding motion joints and associations,use C++to write control code to achieve C++control virtual prototype simulation.Finally,the laser tracker is used to calibrate the prototype.After the calibration is completed,the size parameters of the prototype are modified.The prototype program is written using G-code,tested and tested.