Motion Simulation And Control System Design Of 3-PRRU Parallel Manipulator

This thesis focuses on the 3-PRRU parallel manipulator. Design and control plan for parallel manipulator based on virtual prototyping and virtual instrument are proposed. Mechatronics simulation is studied based on kinematics analysis and virtual prototyping. Machine control system is designed and built based on NI motion controller, and experiments are performed to verify the correctness and feasibility of the theory and platform. The main works of the research are as follows.DOF of 3-PRRU parallel manipulator is analyzed by employing screw theory. Kinematic model is established, the inverse and forward position analyses are proceeded; equation which describe the relationship between the end of tool and center of moving platform is formulated.Virtual prototype of 3-PRRU parallel manipulator is established by SolidWorks, and trajectory planning and simulation of mechanism are performed by COSMOSMotion which verified the validity of inverse position. Mechatronics simulation is preformed by LabVIEW, SolidWorks and COSMOSMotion integrated together which achieved the parameters control of movement. Its program code can also be transplanted to control system of the physical prototype which shorten the development time.Control system is designed based on PC and NI motion controller, and interfaces between motion controller and servo drives are designed according to the desired function, which provide the foundation for design of open control system.The software platform which core control functions include HOME, JOG, AUTORUN, etc is developed based on LabVIEW and NI motion control module. Programming techniques are employed to enhance the human-computer interacting and information sharing.Through the debug and test on experiment platform verify the feasibility of core functions. During test, machine running smoothly, good controllability and low noise and vibration, basically reach the desired goal.