Study On Endocrine Control Strategy For 6-DOF Parallel Manipulator

Parallel manipulator has the advantages of high rigidity,small self-weight/load ratio, high precision and etc.It has been used in many fields to make up the insufficiency of serial manipulator,which widens the range of robot application.Up to now,there are not many researches on dynamic modeling analysis and control strategy,there are still many aspects need to be further researched and developed which restrict the use of parallel robot.The thesis has researched a 6-DOFs parallel manipulator,introduced the fundamental structure of parallel manipulator,given out its reverse kinematics function,analyzed its forward kinematics based on neural network.Neuroendocrine system is the centrum of hormone modulation in human body,which has good adaptivity and stability for hormonal modulation.Some types of novel intelligent controller are presented according to the characteristics of hormone modulation,the simulation indicates that the controllers presented in this thesis have better rapidity and stability than conventional PID controller.Firstly,the thesis gives a detailed introduction of the development and status of robots and parallel manipulator,the achievement and problems in the research on parallel manipulator,and brings forward the content,purpose and meaning of this research.Secondly,we summarize the control theory of robots,introduce the control methods in use and their advantage and disadvantage,we summarize the achievements of control strategy and discuss its develop tendency.Thirdly,we generally research the neuroendocrine system,give a detailed introduction of structure and function of neuroendocrine system,its action range,and the interrelation of nervous system,immune system and endocrine system,which provide the theory foundation of neuroendocrine control strategy.Fourthly,we design some types of controller according to neuroendocrine modulation,the simulation indicates that these controllers have better capability than conventional PID controller.Then we simulate the movement of parallel manipulator using MATLAB,and design a virtual move procedure of parallel manipulator based on OpenGL and VC++.Finally,we summarize all our research and point out its further research topics.