Motion Control And Software Development Of Planar 5R Parallel Mechanism

The planar 5R parallel mechanism is a typical representative of the 2-DOF planar parallel mechanism in the family, whose structure is compact and that is easy to control, can accomplish arbitrary trajectory in the plane, and the analysis is relatively simple. Therefore, this paper takes the symmetric plane 5R parallel mechanism as the research object, based on the analysis of the results of previous studies, including the motion planning, the control simulation, the development of the control software interface and the experimental research on the mechanism.Based on the prototype size of the mechanism, its positive and inverse position solution model are established, and its speed or acceleration Jacobian matrix is solved. And arbitrary paths within the workspace are fitting designed by the Cubic B-Spline Curve, and the trajectory planning of the fitting path is accomplished based on the modified trajectory planning method of the speed as optimized isokinetic curve.Based on the mathematical model and the typical three-loop control system structure of the PMSM, a 2-DOF PID controller is designed and the parameter tuning to the controller is accomplished by establishing the Simulink model of the GAs-Based Optimization. And, constructing the Lagrange dynamic model and Co-simulation of the method of computed torque using Adams and Simulink is done based on the model.Based on the MFC framework program the CNC system software of this mechanism prototype is developed, and by means of the Open GL display technology, the Tee Chart components etc the functions of communication, visualization, curve of real-time tracing etc are accomplished. Taking Turbo PMAC Clipper as the control center, the experimental platform is bulided and combining the servo driver’s speed control mode with the built-in PID algorithm of the PMAC, the motion control research is completed.