Control Study Of 6-DOFs Parallel Manipulator With Redundant Actuation

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. Nowadays, researches on dynamic modeling analysis and its control strategy are not usual and there are still many aspects restricting the using of parallel robot, which need to be further researched and developed.The thesis has researched 8 inputs and 6-DOFs parallel manipulator with redundant actuation, introduced the fundamental of redundant actuation, given out its reverse kinematics function, established the dynamic model and got the further dynamic function. Based on the structure characteristics of 6-DOFs parallel manipulator with redundant actuation, the model of manipulator is simplified, its movement is simulated, PID controller and fuzzy self-adaptive PID controller are designed to control the movement of 6-DOFs parallel manipulator with redundant actuation. The simulating report shows that fuzzy self-adaptive PID controller leads to a better result.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 introduce the structure principles of 8 inputs and 6-DOFs parallel manipulator with the redundant actuation and use the self average actuation module and the redundant actuation to reduce the complexity of the manipulator system so as to help the further control.Thirdly, based on the parallel manipulator model, the thesis imports the new model with 8 inputs and 6-DOFs, analyzes its dynamic modeling problem and establishes the reverse kinematics function. And then the characteristics of parallel manipulator is analyzed with Lagrange method.Fourthly, we summarize the control theory of robots, introduce the control method in different levels and simulate the redundant input parallel manipulator in kinematics and dynamic. Also, the control model is optimized, PID and fuzzy self-adaptive PID controller are designed for the motors, the movement control of branched chain of parallel manipulator is simulated with MATLAB.Finally, we summarize all our research and prospect its further research topics.