Three Translations Parallel Robot And It's Multi-axis Control Research

High technology of information age flows to the traditional agriculture, which leads to the deep reform of traditional agriculture. Micro-electronics technology and micro-computer technology make the information and intelligence combine with mechanical equipment and dynamical, which accelerate a large scale of mechatronic revolution in agriculture. High-efficient factory agricultural production is a domestic and overseas new developing industry technology, which has already moved towards practicality and industrialization in some developed countries.According to the control test of the manufactured transplant robot, It shows that there are many defects of it such as the mechanism coupler was too long, insufficient rigidity of coupler, the area of kinematic pair was too little, and so on. All of these lead to the low work efficient of the mechanism. To ameliorate these defects, we mainly do such work in this paper as follows:1. 3 branch of 3-CRR are configured in a new way, then a new kind of 3-DOF decoupled translational parallel manipulator is gotten.2. A new definition of reducible mechanism is put forward. And through calculation, this mechanism is testified that it is reducible, its output mapped with its input.3. We analysed the dexterity degree, the velocity performance index and sigular configuration of the mechanism, and it shouws that this mechanism had very good kinematic-transfer performance, the kinematic isotropy is very good and the dexterity degree and control precision can reach optimal degree.4. In view of the work space and the whole rigidity of the mechanism, an optimization design of mechanism coupler was got. With the relationship of structure, motion and intervention, then we designed the relationship between the parameters of every link and drives.5. With MATLAB, the workspace figure of the transplant robot is got. In this paper, A control research of the transplant robot is also done.The tasks are as follows:1. A scalar control system is designed. This system contains a personal computer and a multi-axis motion controller. The PC is used to store data and to complete complex calculation. The multi-axis motion controller, which is based on DSP, is used to realize the real-time control of multi-axis motion.2. According to the actual drive force, the step motor is selected reasonably. With repeated test, it shows that the step motor we selected can ensure the system to work in normal state.3. According to some defect of step motor conrtrol system such as the influence of nonlinear factors, An adaptive fuzzy PID controller with the function of error compensation was adopted. With some experiments, the results shows that the controller has not only nonovershooting and fast settling process, but also has high adjusting accuracy.4. The control software of the transplant robot is designed by Visual C++6.0. In the program, we also design module of malfunction diagnosis to ensure that when there are some little problem in the control of the system, the program can detect it and solve it immediately.