Research Of Parallel Robot Based On Drive Of AC Servo Motor

The virtues of parallel robot(P.R) such as high rigidity, excellent precision and strong carrying capacity make it a style with different characters to serial robot(S.R). The research on P.R has become a focus in the field of robotics. At Present, PR is widely used in the fields of numerical control process, industry cutting, movement simulation, sensor and precise process and so on. Because of that Low-DOF parallel robot has favorite perspective in development and application, 2-DOF P.R based on drive of ac servo motor is studied in the paper.The paper analyses positive and reverse position solution and work space and then makes track programming on P.R. Actual installation and debugging to control system are followed on the research and analysis of control system construct plan.The key of the paper is the design of spur controller of P.R. On the foundation of understanding complexity of robot's dynamics model and comparison of present control plans , the paper establishes the mathematics model based on drive of the ac servo motor.In the viewpoint of theory application, VSC and fuzzy control have been studied to a certain extent in the paper. And then, the paper has designed a kind of diagonally fuzzy variable structure controller that combines the virtues of both of the control methods. It is indicated from simulation that the controller has the virtue of strong anti-disturbance and has the ability of removing the chattering.In the last of the paper, control system software of P.R written in VC++ code is made, the control is realized based on the drive of ac servo motor within the error permit range observed in the experiment.