Research On Monitoring System Of High-Load Parallel Robot

High-load parallel robot have been widely used in space docking system, high-speed motion stimulator application field etc. High-load parallel robot usually works in rough environment where the working place is not easily observed by naked eyes, and the moving platform has complex trajectory because of its six degrees of freedom, it is difficult to realize the dynamic testing. To solve these problems, this thesis studies a monitoring system used for high-precision measurement of position and orientation and virtual synchronous motion, the major work is as the following:(1) Put forward a high-precision measurement method based on both stereo vision and positional solution. First of all, detection system based stereo vision is set up by the parallel robot which is used to measure the rough position and orientation, the space where the positional solution stays is assured after the rough pose parameters are calculated. The positional solution of parallel mechanism is multiple, but there is only one in limited space. According to this principle, accurate position and orientation is calculated by positional solution algorithm according to both the results of stereo vision detection and data measured by length sensors. This method inherits the advantage of stereo vision which realizes the motion measurement for multi-freedom project, and the precision is improved.(2) Set up virtual robot control in the computer. Use VC++ and Open Inventor as development platform, build the 3D model of parallel robot was constructed through professional 3D modeling software PRO/E, and import the model data in the development platform, set up complete database of virtual robot. This method is better than the traditional OpenGL method with high developing speed, suitable for object-oriented system development.(3) Study virtual synchronous movement mechanism of parallel robot using Open Inventor. A node called myCommucation is added to the root node which used to receive the data of position and orientation in real time. Virtual movement control is realized by adding a translation node, three rotation node in form node (corresponding to different parts), each node is a class. Senor class is an important component of Open Inventor which can be used to detect the change of nods in real time. After the change of parameters in myCommunication is detected by sensor, customer function is called which can set corresponding translation node or rotation node, then the virtual synchronous motion is completed after rendering by SoGLrenderAction.(4) Study the clock synchronization algorithm based on the network delay lognormal distribution and system communication based on WinSock communication method. The former is used to realize clock synchronization, the latter is for communication between PC node.(5) Design the monitoring system framework, and study the implementation of accurate measurement of position and orientation and the virtual synchronous motion. Related interface is also designed.After test, the methods proposed in the thesis have possibilities, and offer better measurement precision and virtual synchronous motion.