Motion Design And Control Of Six Degrees Of Freedom Parallel Robot

Parallel robot which has advantages such as large stiffness and structural stability, strong carrying capacity, high precision and small inertia makes up for lack of serial robot. Parallel robot has become one of the hot field.This paper studies 6PTRT parallel robot.Feasible research goals are worked out and the major works completed are summarized.A method under the conditions of the target position of activities platform is obtained through the analysis and establishment of geometry of the 6PTRT parallel robot and space coordinate transformation, which solves displacement of the axis (inverse solution).The motion planning is completed based on completion of the displacement.Control system which is based on dSPACE and intermediate interface circuit board have been designed.Semi-physical simulation platform has been completed. Experimental interface is constructed based on ControlDesk platform.Thus experiment can be observed in real time and data can be recorded.Conventional PID control system based on semi-physical simulation platform through writing Simulink control system models is designed, which achieves parallel robot to move in accordance with the planning of the motion speed curve.The multiple sets of experiments are done by changing the ratio, integral and differential coefficients.The controlling effects owing to changing PID control parameters are inducted through analysis of experiment results and data.A two-dimensional fuzzy controller is designed through writing Simulink fuzzy control system models. The multiple sets of motion controlling experiments are done by changing quantitative factor and scale factor and induct the controlling effect owing to changing fuzzy control parameters by analysis of selecting typical experimental results.In a word, control strategies of parallel robot are developed based on dSPACE system in the paper.The methods to improve the controlling accuracy of system are studied through experimenting the impact to result of different control parameters.