| A new mechatronical virtual prototyping simulation technology, LabVIEW and SolidWorks united simulation technology is applied to study on the two-dof translational parallel robot. A deep research is taken on parallel mechanisms and motion control of the two-dof translational parallel robot from several aspects. Such as selection and optimization of parallel mechanism, virtual prototyping, motion trajectory planning, motion Control Simulation, and simulation results analysis and so on. Main results are as follows:The mechanism type that the two-dof translational parallel robot applied to high speed applications may has is analyzed in detail under deep studying of the theory of Generalized Function Set with two-dof translational parallel robot mechanism feature. And the2-PaPa parallel mechanism is selected finally as the suitable type to discuss in this paper. Then the parallel mechanism is optimized and its mathematical model is simplified. After kinematic analysis of the parallel mechanisms, kinematical and inverse-kinematical algorithm that applicable to the parallel mechanism is obtained, and its workspace is determined using mapping method.According to the selected parallel mechanism a virtual prototype of the two-dof translational parallel robot and its components’ structure is designed based on SolidWorks. And light-weight design of the actuating arms is done using finite element analysis tool, Simulation of SolidWorks.The corrected sinusoid is finally selected as the motion control curve of the robot after comparing various acceleration curves under deep studying on parallel robot motion control theory and methods. On this basis, arc transition instead of right-angle corner is adapted to optimize the traditional "door-shaped" path, which can improve the efficiency of robot crawling obviously and inhibit vibration effectively when robot movement at high speed.The motion control simulation of the designed virtual prototype is implemented after several step below:Configurating and optimizing the SolidWorks parallel robot model under simulated, legitimately build up LabVIEW project and configurate the simulation parameters; Working out LabVIEW motion control program using corrected sinusoidal acceleration and deceleration curve motion algorithm,"door-shaped" path optimization algorithm and parallel mechanism kinematical and inverse kinematical algorithm mentioned before.The path, displacement, velocity, and acceleration of the end-moving platform of the parallel manipulator virtual prototype is analyzed using graphic function of SolidWorks Motion to verified the correctness of the designed prototype on virtual prototyping platform. The kinematic analysis on all movement joints and diagram of the drive motor torque has been done, of which simulation results have been used to estimate parameters of the servo motor and reducer.This paper has certain referential significance in lower-dof parallel robot research and virtual prototyping technology research. |
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