Research On Modeling And Control Strategy Of Parallel Robot

Due to its advantages of great stiffness, high bearing capacity, high precision, and compact structure,6-DOF parallel robot is being widely used in the industrial, medical, military, etc. areas. With the rapid development of economic, the situation that Parallel robot is being used in medical rehabilitation has become a hot topic in the field of robot research at home and abroad.Compared with the relatively matured mechanism analysis, the research on parallel robots’ dynamic model and control strategy applying in medical rehabilitation should be done further. This research is the sub-topic of Research on Multiple Degrees of Freedom Robot for Lower Limb Surgery and Rehabilitation. Combine robot technology with medical rehabilitation theory and research the robot’s control strategy can carry out scientific effective rehabilitation training for the patients and result in a better recovery on the patients’motion function.This research mainly contains the following four parts:(1) Analyze the kinematics of parallel robot, especially the inverse kinematics solution. Through which, we can determine each rod’s actual length according to parallel robot’s position and attitude. Make the kinematics simulation of parallel robot via MATLAB.(2) Analyze the dynamics of parallel robot and establish the dynamics equation by Lagrange method. In order to suit the closed-loop control strategy, we also have optimized parallel robot’s dynamics model.Make the dynamics simulation with ADAMS.(3) Illustrate the PID control strategy and propose the strategy of PID with incomplete differentia according to the character of parallel robot’s dynamics equation. Make the experimental verification on the Six DOF parallel robot prototype with the PID control algorithm.(4) According to the requirement of medical rehabilitation, this paper proposes the adaptive fuzzy PID with incomplete differential control strategy and develops integrated simulation with mechanical and control system via ADAMS and MATLAB. With the experiments on parallel robot prototype, we have acknowledged that the adaptive fuzzy PID control strategy can fully play the advantages of PID controller and fuzzy controller. The results show fast response, small overshoot and small steady-state errors.