Research On Control Of Delta Parallel Mechanism

Following the further progressment of our country, the level of our material life are highly improved for many people, corresponding raising in the spend of the consumption, which resulted in the rise of the labor price. At the same time, Along with China’s aging population becoming increasingly serious, the number of the elderly people are increasing, which resulted in the inadequacy of the labor force. Besides, our economy is coming into a new stage so that we need to adjust our industrial structure to adapt it.And it is very essencial to invent automatic products to substitute the human which can promote our effiency so that we can do more things. In this paper, the application of Delta mechanism in picking, printing, assembly and other fields is studied, and I hope our research in the field of the industrial automation can play a very significant impact and work well.Firstly, the 3D model of the Delta mechanism is drawed as well as the simulation model of the Delta by Adams. Then set a reasonable coornidate and reduce the geometric model of the Delta. At the same time we derived the expression of the inverse solution of the mechanism, and had a analysis to the position of the mechanism. The expression of the positive and inverse solutions is compared with the development model of Adams, which verifies the correctness of the derivation process.So it is done very well.Secondly, through the analysis of the mechanism of the three kinds of singularity, we can conclude that in what circumstances they occur and take the constraint conditions to avoid its occurrence. Then the work space of the Delta is studied and the constraint of the main dimension is analyzed by the method of geometry. Finally, the condition number is offen chosen as the optimization target, the goal expression and the restrained equation are also set up, and the size optimization of the mechanism is completed as I have done.In the following, firstly, we had a reaserch to the motion planning of the mechanism. In order to get the unknown points between the two given points, the common interpolation algorithm is analyzed. Then, in order to ensure the successional and constancy of the velocity in the movement, we had a modification to the velocity planning method, the modified algorithm is obtained, and the whole trajectory planning process is completed.At last, the controller of mechanism motion is also examined by us. For the first, we have a research of the control strategy of the Delta, and then we select a proper way and find a model of the pmsm. Then we research each step of the control of the pmsm and the Simulink control block diagram is established. Finally, the speed of the motor is controlled by the fuzzy PID controller. Each part of fuzzy control that we demand we have a deep study about it.And finally throught the results can be seen,what we have done has a speed more quickly than others and it works well.So,I have managed to finish all of the work well.