Dynamics Modeling And Force/Position Hybird Control Research Of6Pus-Upu Parallel Manipulator

This dissertation is closely combined with redundant parallel robot development needs, systematically researches a5-DOF redundant actuation parallel robot, including structural characteristics and analysis method of the robot, inverse dynamics modeling and simulation technology, control strategy and mechanical-control system co-simulation technology,and through the force/position hybrid control experiment, verified that the redundant drive can improve the position precision and the dynamic performance of the parallel robot. Specific content as follows:On the basis of the structure characteristics of the6PUS-UPU redundant actuation parallel robot, this paper puts forward a analysis method which thinks the6PUS-UPU as the6PUS-UPS and the middle branch acts additional constraining force to the moving platform, then applied the screw theory to solve the constraining force, obtained the unified expression when the constraining force is force and torque, reduced the computation complexity of dynamic model.Used Kane method to establish the inverse dynamic model of the redundant actuation parallel robot, for the purpose of balancing the internal force, used the least square method to optimize the redundant drive force; Applied Pro/E and ADAMS software to establish the virtual prototype of the robot, verified the inverse dynamics model built by Kane method is accurate, and showed the optimization of the redundant drive force effects.Established the mathematical model of AC servo system and linear motion unit of robot, and applied Simulink to set the controller parameters of AC servo system. By means of introduced and compared several common control methods briefly, finally determined the force/position hybird control strategy:non redundant branches used the position control which based on the PID, redundant branch used force control which based on the improved computing torque. Applied ADAMS and MATLAB software to process the mechanical-control system co-simulation, verified that compared with non redundant control, redundant control can improve the precision and stability of the machine.Processed the redundant parallel robot force/position hybrid control experiment, the expriment results verified that the redundant drive can improved the branches bearing obviously.