Reaserch Characteristics And Control Of Parallel Pick-and-Place Robot

Parallel pick-and-place robot is applied to pick-and-place industry and has a closed looppick-and-place robot mechanical structure.Because the parallel robot has high rigidity,highprecision,strong bearing capacity,compact structure,fast moving speed,so that the robot iswidely used for picking up point-to-point transport and mobile production line to achieve theobjectives.With the development of logistics in the field of automation, the types of parallelrobot kinematics of parallel robot in high speed response is necessary,so that has practicalsignificance to achieve strong and production automation prototype design. This paper focuseson the parallel pick-and-place robot system was studied, the main contents are as follows:According to the requirement of parallel robot work space and efficiency in food productionline in a three degree of freedom parallel machanism as the research object,establish the modelof kinematics and dynamics of the mechanism,applying the principle of highermechanism,derived active arm angle and moving centroid position of the platform,according tothe Lagrange equation and principle of virtual displacement mathematical system dynamicmodel.Three-dimensional model of parallel robot based on Solidworks software platform,according to the working efficiency of food production line requirements of the moving platformcentroid trajectory motion control programming, puts forward two kinds of drive control methodin the Adams software: direct input drive function method; spline drive control method. Comparethe advantages and disadvantages of two methods, for the system control algorithmprogramming provides the angle parameters.After Adams processing of measurement data, platform, motion measurement of parallelrobot active arm, a driven arm related performance parameters, to analyze the effect of eachcomponent on mechanical system, puts forward the design note links. Application of Adams andMATLAB software to carry on the active arm torque balance control simulation for themechanism analysis, obtained satisfied at maximum acceleration torque value, to determine theservo motor and reducer.According to the principle of fuzzy control and traditional PID control and fuzzy PIDcontroller design, simulation of the fuzzy PID controller in MATLAB software, and the results ofanalysis to determine the accuracy of fuzzy PID controller.On the basis of the above study, parallel robot prototype, and build the PC+PMAC motioncontrol platform, on-line experiment.