6-DOF Bionic Robot-Horse Design Of System And Control Of Modelling

Parallel Robot(PR) is characterized by the high rigidity, large load handling capability, and non-accumulation of position error. PR is the supplement of Series-Robot(SR) and has become the focus of research in robotics, and applications in many aspects, such as aerospace, bionics, Industrial production, micromanipulator, cultural entertainment and so on. Despite the plentiful research achievements in the practical application and theory study in 6-DOF PR, there are many challenging problems in mechanics, kinematics, dynamics, singular pose and kinetic control. For example, Simplifies the platform institutions(such as Stewart platform), utilize the novel control system, application the suitable control policy etc.This thesis bases on novel orthogonal parallel institution, application the"Number Control(NC) Inserting the industry Personal Computer(PC)"open style structure, design the control system of bionic Robot-Horse(RH). The system is made up of a supervisor and a controller. The supervisor(PC) communicates with the controller through PCI bus, the National Instruments(NI) PCI-7356 as the motion controller, composition the motion control system, the Panisonic servo motor as the driver of RH. Control process bases on LabVIEW and NI special-purpose motion control software to design. The entire control system through the selection suitable control component, the module and the integration, reduced the RH's research cycle, has achieved the design purpose.This thesis for RH's control, Establish the inverse kinematics modeling of RH, and consider the stability of branched chain control, determine use three loop to control, Electric current loop, velocity loop and position loop. Put fuzzy self-adaptive PID application to branch chains control of close-loop, and to take simulation, same times to compared with ordinary PID control. Afterward to analysis the stress of RH. Bases on Newton-Euler method to set up the dynamic equations of RH, then, in order to simulation of dynamic equations, a nonlinear controller, is designed using resolved acceleration method, and give the simulation curve of three axes stress analysis.