The Research Of Trajectory Planning And Calibration On Planar 5R Parallel Manipulators

Parallel manipulator has been received wide attention and application in the fields ofscientific research and industrial production due to its advantages as high accuracy，bigrigidity, fast speed, strong carrying capacity and high motion reliability. Owing to simplestructure, single closed loop, have a good work space and global dexterity, easy to control,and convenient for application, in addition can realize the any plane trajectory, so thisthesis is on planar 5R parallel manipulator as research object, study the kinematiccharacters, trajectory planning and calibration of the mechanism, then carry a kinematicsexperiment for the prototype.Firstly, the kinematics of the plane 5R symmetrical parallel manipulator is analyzed.The concerned coordinate system is established, the position solution to the mechanismand the Jacobian matrix of the actuation joint are derived, and the kinematics transmissionrelation between the end-effector and the actuation joint angle is also obtained. Theworkspace and singularity of the parallel manipulator are analyzed. Base on this, path planof the parallel manipulator is done.Secondly, the trajectory planning of this parallel manipulator is proceeded incartesian space by the trajectory planning method of velocity optimization constant curve,then get the continuous and smooth angular displacement, angular velocity and angleacceleration curve of driving joint; moreover the trajectory planning is also proceeded injoint space by the three B spline interpolation method, obtain driving joint motion curve,whose performance is good.Thirdly, the kinematic calibration of this parallel manipulator is studied. The kinema-tics calibration model of the planar 5R parallel manipulator prototype is established. theerror measuring method of the end-effector is analyzed. The parameter identification mo-del of the mechanism is built based on least square method. And the computer simulationcalibration is proceeded for this prototype. The motion precision of end-effector got dram-atically increasing.Finally, based on the Simulink module of MATLAB, the model of the planar 5R symmetrical parallel manipulator is established, and the movement simulation for atypical motion is carried out. Then, taking the tradition control theory as the foundation,three typical kinds of control methods: control, forward feed control and neural networkcontrol are discussed and used in the planar 5R symmetrical parallel manipulator, and thesimulation analysis are done.