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Research Of Motion Control Technology For A New3-DOF Hybid Manipulator

Posted on:2016-10-27Degree:DoctorType:Dissertation
Country:ChinaCandidate:Z Y XueFull Text:PDF
GTID:1228330467491360Subject:Mechanical Manufacturing and Automation
Abstract/Summary:PDF Full Text Request
With the development of agricultural production technology, agriculture automation equipment will play a more and more important role in aspects of alleviating the shortage of agricultural labor, improving labor productivity, reducing production costs, protection of workers’safety and so on. In crop pesticide spraying, harvesting, transportation and other operations, the utilization of automation equipments is continuously increasing. Movement mechanism and its automation control technique has already become a research hotspot in digital agriculture. In this research, a prototype of hybid manipulator motion control system was designed and also contained its configuration design, kinematics analysis and motion control technique. The main purpose of the research is to provide effective theories and technical solutions to the exploitation and application of hybid manipulators.The main content of the thesis is as follows:(1) The first part studied the configuration mode of the manipulator. According to mechanism’s geometric features, dynamatic model was established and both of its forward and inverse solutions were calculated via geometric analytical method.(2) The working space of the hybrid mechanism was deeply analysed. Through geometric and analytical method respectively, the calculation formula of the hybrid mechanism workspace’s volume was elicited. After that, the motion spacial scale was decided with analysis. Mechanism’s kinematic size was confirmed based on working space that was designed already. Comparing the results between Adams’simulated analysis and kinematic forward model calculation of the working space, it turned out that they had good consistancy.(3) Machanism’s singularity was also studied which showed that this mechanism had comparitively big scale of working space and the interior of the space was continuous while at the same time with no singular point.(4) On the basis of mechanism kinematics and kinetic analysis, this thesis determined the basic parameters of the mechanism and completed all components’model selection and design. A prototype of the mechanism was developed and also its control system. The control system was based on DSP. The CAN communication protocol between DSP controler and DC servomotor actuator was realized. In this way, the control system’s integrated control performance was improved and its expandability was enhanced.(5) The final part of the research containes straight line and arc path planning algorithm in Cartesian space. The accelerate and decelerate control algorithm of path planning was studied. In this part, real-time control program of DSP controler was designed including inverse kinematics module, interpolation calculation module and control signal generating module. And the validity of motion control algorithms was proved by experiment.
Keywords/Search Tags:Hybrid mechanism, Kinematics, Workspace, Trajectory planning, CAN bus
PDF Full Text Request
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