Studies On Dynamics And Control For Macro Manipulator Of Chromosome Incision Equipment

The technique of chromosome micro dissection has been becoming an efficient tool for combination of cytogenetic and molecular genetics, but the generalization of which was restricted by chromosome incision equipments. In this dissertation, the macro manipulator of chromosome incision equipment is studied.Based on the design theory of macro-micro dual-drive equipment, a novel 6-(P-2P-S) parallel macro manipulator is proposed. The mechanism is a 6-DOF parallel mechanism with orthogonal posture, which has characters of some movement decoupling,less movement inertia, good manufacturability. The position and workspace are analyzed, and the outlines drawing of position and orientation workspace are plotted. The effects of main structure parameters to the volume of workspace are studied. The movement perfoemance and geometric errors are analyzed. The movement transmission and geometric errors evaluation indices are defined, and the distributions of which in workspace are presented.The whole dynamic model of the macro manipulator is established. Corresponding to different postures, velocities, accelerations, the inverse dynamic driving forces curves of typical movement are plotted. The relationships of driving forces and structure parameters are studied. Based on the forced vibration and residual vibration analysis, the positioning accuracy evaluation indice of the macro manipulator is defined. The relationships of evaluation indice and exciting forces, frequency ratio are analyzed. The distributions of amplitude of residual vibration in orientation workspace are presented. Since positioning accuracy evaluation indicator, the structure parameter optimization is made.The step-simplified method is proposed, with which the dynamic model for control is established. In view of the dynamic control subsystem, the control algorithm of dynamic feed forward control is presented, which can precisely compensate the dynamic interference. Based on Backsteeping method, the nominal model controller, the robust adaptive compensation controller, and the robust adaptive sliding mode decentralized controller are proposed, and the efficiencies of which are verificated by simulation.The control system of macro manipulator prototype has been manufactured. The tracking control experiments are tested. The research results have important scientific meaning and practical value to the design and control of 6-(P-2P-S) macro manipulator of chromosome incision equipment.