Research On Dynamics And Control System Of The3-DOF Translational Parallel Mechanism

Parallel mechanism combination of the NC machine tool becomes the parallel machine tool,which can realize the NC machining, which can provide the flexibility and flexible of the parallelmechanism and the stiffness and precision of NC machine.This paper studies the robot of threedegrees of freedom parallel mechanism, which can realize laser processing, drilling and millingcutting and other industrial processing in the industrial area.The current the academic and the engineering attach great importance to the research anddevelopment of the parallel machine tool (mechanism).The middle nineteen ninties, the United States,England, Russia, Japan and other countries are concerned with the study of mechanism and machinetool manufacturers have introduced with different structure and functional properties of the parallelmachine tool (mechanism), which has become a star of the industrial development overlook.First, this paper takes theoretical analysis for the parallel mechanism model,application oftopology to institutions the degrees of freedom of the ball hinge hinge hinge or Hooke, were analyzedto determine the degrees of freedom of mechanism, as well as the hinge of form.Then calculate theforward result and backward result, work space of institutions and so on. Then to establish thecomplete closed-loop mechanism dynamics equation by Lagrange equation, being the theory basis inthe simulation and control system in the study after.According to the organization structure size, this mechanism of3D entity modeling is builed in3D digital modeling software SolidWorks. Through the transformation model between analysissoftware ADAMS and SolidWorks, generate the mathematical model under the environment ofADAMS. Make the kinematics and dynamics simulation analysis, through the analysis of theinstitution we can have movement parameters, sports law and the dynamic characteristics, includingdriving force, motor load characteristics such as needed.To improve the multiple angle of three degree of freedom parallel mechanism performance forthe mechanical system and control system., through the union simulation between Matlab/Simulinkand ADAMS/Control, the simple PID control research of the institutions, which including based onthe kinematics control and dynamic control of research, get PID parameters the control of themovement process needed, and complete preparations to further physical prototype control.Finally through the seamless links between Matlab/Simulink and dSPACE, verify the controlsystem modeling building through Matlab/Simulink on the early. Through the dSPACE platform with"real time simulation device " to build the semi physical environment for the conduct of the threedegree of freedom parallel mechanism of semi physical real time control simulation, more reliabilityof mechanism movement analysis.