Study On Analysis And Control Simulation For 3-dof Planar Parallel Mechanism With 6R Under-actuated

The under-actuated robot is a class of nonlinear system with less inputs than the degrees of freedom in number. Due to the lack of the motor-driven joints, under-actuated robot has less energy consumption, low cost, quality lighter and flexibility of the system is relatively strong, and many other advantages. The under-drive system is a highly nonlinear system, multiple target variables need to be controlled so that the system exhibits complex, this complexity will help control research and validation algorithm.In this paper,we research a 3-DOF under-actuated 6R planar parallel mechanism and shows that analyzes of the kinematics and dynamics of the mechanism. In the paper, position analysis, velocity analysis, acceleration analysis and dynamic analysis are been studied for the 6R under-actuated planar parallel mechanism. The kinematics model is established and dynamics model of the system is established with Lagrange equation. We combine the kinematic equations with the dynamic equations and the number of equations is equal to the number of unknowns. So the solution of equations is theoretically deterministic, this paper proposes a new control strategy for this mechanism and control strategy simulation and research. The main content of this paper is as follows:Firstly, we analyze and summarize the under-actuated robot and parallel robot development present situation at home and abroad, analysis theory of parallel robot and underactuated robot control technology and bring forward the content, meaning and purpose of this research.Secondly, we establish mechanism kinematics and dynamics equations, and conduct the comprehensive analysis of kinematics and dynamics, which provides the theoretical foundation for the later.Thirdly, we use software MATLAB to do the motion planning and torque planning, and use software ADAMS to the under-actuated planar parallel mechanism kinematics and dynamics simulation. The simulation data are compared with theoretical calculation data, explain correctness of the kinematics and dynamics of the mathematical model.Finally, we set up mechanism mechanical system and control system models with Simulink / SimMechanics in MATLAB, and verify the feasibility of the control strategy.