.6 The-thht Parallel Robot Dynamics And Control Technology Research

This paper researched into the 6-THHT parallel robot which is droved by stepping motor.First, we used the Lagrange method to get the dynamics model about the 6-THHT parallel robot. Then according to the parameters of the control system, we analyzed the acceleration, running and deceleration problems about stepping motor. And we made use of virtual prototyping to work out its general dynamics problem. From this, we gained a series useful data, including: the heaviest load of the robot when it's along a certain track within certain time, the shortest time to run the track and the shortest time to ramp up the highest velocity and so on. At last we made an analysis on the result.Meanwhile, in order to work out the problem about the screw influence the length of the pole, we utilized the D-H matrix to establish mathematical model for every joint parameters transition. And then we gained the accurate length of the pole and the compensatory value through programming. This can give more reliable data so that the robot can get more accurate position.