Research On Control System Of Compliant Actuator For Mold Polishing Based On Industrial Robot

With the rapid development of manufacturing, mold processing quality and efficiencyrequirements are higher and higher. Polishing operation is one of mold manufacturingprocesses, which plays an important role in mold fabrication and affects surface quality ofmanufactured parts. It is worth pointing out that improvement of polishing technology is ableto promote the development of mold industry vastly.In order to promote the progress of polising technology, this paper demonstrated a kindof control system for pc-based3-RPS parallel robotic mechanism, which is the core of themold polishing posture control actuator, improving the mold polishing processing quality. It isknown that control precision of3-RPS parallel manipulator directly affects the surface qualityof workpiece. The main works are as follows:1. The kinematics and dynamics of3-RPS parallel manipulator are analysed in detail,and the posture control model equation is solved;2. Analysis of the principle of the pneumatic positioning control system under thecondition of existing hardware structures is carried out; the pneumatic positioning controlsystem hardware platform is discussed;3. Single cylinder positioning control system is analysed theoritically, then, pneumaticpositioning control system control model is established; and then, self-tuning Fuzzy-PIDcontrol algorithm is adopted and simulation result in Matlab is given with optimization ofthree PID parameters.4. Pneumatic position control system based on Fuzzy–PID is realized using Visual C++,which provide the function of data acquisition, control output and the serial communication.Movement of single cylinder could be controlled with satisfacted accuracy.3-RPS parallel manipulator control system is able to adjust according to the change ofthe free-form surface. This thesis focused the attitude control system, and achieved expectedcontrol effect.