Font Size: a A A

Forging Manipulator Simulation Test-bed Dynamics Modeling And Fuzzy Sliding Mode Control

Posted on:2011-10-12Degree:MasterType:Thesis
Country:ChinaCandidate:N N LiFull Text:PDF
GTID:2208360305494464Subject:Mechanical and electrical engineering
Abstract/Summary:PDF Full Text Request
Forging manipulators are multi degrees of freedom of complex machines. It has a characteristic of heavy load, time-varying parameter, high-precision positioning, and automation of the running processes. The characteristic has a direct relation to the quality of the forging and safety. Therefore much attention should be paid to the dynamic and motion control of the manipulator. An experiment manipulator is needed because using practical forging manipulators is inconvient to do experiments. On the experiment manipulator, the actions of forging machine such as moving forward and backward, rotation of forging, lifting of the gripper, pitching of the gripper, rotation of the gripper could be simulated. The main tasks are as follows:1. An experiment manipulator was designed and its 3D model was established.2. The analytical dynamic model was built with Lagrange equation method. The virtual prototype was proposed via ADAMS and the dynamic performance was analysed. Comparing with ADAMS simulation results, the analytical model was proven to be reasonable.3. The trajectory planning and motion control of the experiment manipulator was studied. The kinematics, work place, Jacob matrix, and interpolation of the manipulator were analysed. Then the motion control was studied. Finally, a motion planning experiment was done to make sure that the motion planning is reasonable.4. The manipulator is multiple-input-multiple-output (MIMO) system with nonlinearity, time-varying parameters, joint coupling and modeling error. Therefore, a fuzzy sliding controller base on index approaching laws was designed for the closed-loop system and it showed a good performance of decoupling and robustness comparing with the contrl performance of PID controllers.The research results gives some reference for the study of the motion planning and dynamic control of the forging manipulators.
Keywords/Search Tags:experiment manipulator, dynamics, ADAMS, motion planning, fuzzy sliding controller
PDF Full Text Request
Related items