Study On Control Strategy For 6-DOF Parallel Manipulator With Redundant Actuation

The parallel manipulator is the closed loop kinematics scheme which is constituted by many parallel chains. Comparing with the traditional series manipulator, it has very big difference. It has the advantages of high rigidity, strong bearing capacity, little error, high precision, good dynamic performance and etc. The thesis has researched 6 degrees of freedom (6-DOF) parallel manipulator with 8 inputs redundant actuation. Based on the mechanical structure and the fundamental of redundant actuation, the thesis has given out its reverse kinematics function. After introducing the methods of establishing the model of the parallel manipulator, the thesis has established the dynamics model with Lagrange method. Based on the model, SimMechanics mechanical model for the parallel manipulator is established. Based on the hormone modulation of neuroendocrine system, we proposed an intelligence control algorithm and gave out the result of the simulation.The main contribution of this thesis is as follows:(1) We investigate and summarize the development and status of robots and parallel manipulator, the achievements and problems in the research on parallel manipulator, and bring forward the content of this research.(2) We introduce the structure of 6-DOF parallel manipulator with the redundant actuation and the principles of self average actuation module. The process of establishing the reverse kinematics function is given in details.(3) The general methods of establishing the dynamics model are summarized in details. And then the characteristics of parallel manipulator is analyzed with Lagrange method.(4) After introducing the usage of SimMechanics block sets in MATLAB, we build up the SimMechanics model of the parallel manipulator according to the parallel manipulator structure and its inverse kinematics model.(5) Based on the principle of the hormone modulation of neuroendocrine system, we propose an intelligent control algorithm and give out the process in details. The simulation result in the control of 6-DOF parallel manipulator demonstrates that this algorithm is effective.(6) By using the NI-7350 control card to actuate servo mechanism, we build up the control system of the parallel manipulator.