| Parallel robot has been widely used in the field of industrial automation production.However parts processing and manufacturing of parallel robot accuracy requirement ishigh, and there is biggish coupling mechanism inner stress, parallel robot control complex,those problems limit the parallel robot widely used in reality.Redundant force control technology can well solve the above problems of parallelrobot. This article is based on the powerful advantages of discipline construction projectsin hebei province " Mechanical and electrical integration multifunction measurement andcontrol platform6PUS-UPU" as the object of experimental research on parallel robot, andwith the help of the national natural fund "parallel machine redundant drive theory and theforce/position control experiment research" project funding of related experimental studyon. The relevant theoretical and experimental research on this parallel robot were base onthe original hardware system were carried out.First of all, the6PUS-UPU redundant drive parallel machine robot has been carriedon the simple introduction. Then through Kane method to establish the dynamic model ofredundant drive branch, which settled the foundations for the late redundant drive controlexperimental study.Secondly, we used the TMS320F28335DSP as the redundant force controller whichwas combined with the PMAC motion control card to control the parallel robot tocoordinate movement. And a control strategy for force controlling was proposed.Then, the redundant force/position hybrid control system software was developedthrough the VC programming software. And the servo control function was writed throughthe CCS3.0DSP development platform.Experiments date indicated that the friction of the redundant branch has a greatinfluence on the system control’s accuracy, so the friction should be compensation.Through the experiments identify the friction model for friction compensation.Finally, using the control software developed for the upper machine, in combinationwith servo control function, has carried on the debugging operation as a whole. Control software and the redundant force control branch in redundant spare capacity controlexperiment in the process of the smooth movement, good operability. Redundancy branchforce following the theory of force curve of good performance which can be used in thelate experimental research. |
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