Research On Control System And Experimente Of Power Assist Manipulator

As a new type of handling device, power assist manipulator is aiming to achieve a morerapid, more accurate and more convenient way of handling. Along with the industrydevelopment, the traditional material handling equipment has facing more and more problemin validity, accuracy and safety issues. It’s seriously concerned that how to research them andimprove their performance.Firstly, the actual states and future developments of the power assist manipulator wereanalyzed in this thesis. The programs of the power assist manipulator mechanism and controlwere proposed according to research its mechanical structure.Secondly, the dynamics model of the manipulator is derived by using the Lagrangeequation. The model can help establish simulation model in MATLAB. According to thehandling materials motion analysis of the power assist manipulator, simulations are dividedtwo different situations to carry. Simulation results show that the model is right. Because themovement of the manipulator in all directions is relatively independent, the dynamics modelis non-linear decoupled. According to the angle sensor and lift sensor, the operator’smovement trend into the velocity and displacement signal. We put forward the control modeof power assist manipulator: speed control and position control. On the base of drive systemmathematical model and the decoupling dynamic model, driving control simulate model. Byadjusting the controller parameters and analyzing the simulation results, the correctness of thecontrol strategy is verified.Finally, the experimental study was conducted on the base of the Qpid semi-physicalsimulation platform, combining with circuit board. Optimizing experiments has beendone.The speed experiments and material handling experiments were carried out byreferencing the optimized parameters of Optimizing experiments. The experimental resultsshow that when the operator has movement trends, the two control methods are able to helpthe robot movement for materials handling and lifting smooth and fast.