| With the rapid development of science and technology, bio-engineering, microelectronics, aerospace and other disciplines has entered the "submicron – nanometer" era, the accuracy requirement of the system operation is becoming more and more high. As a macro-micro dual positioning platform system, it not only has the macro dynamic positioning platform advantages of large range and high speed of movement, but also has the micro positioning platform positioning advantages of high precision and fast response speed of movement, so it has wide application prospect. Based on the national natural science fund "based on the energy characteristics of flexible parallel precision positioning platform vibration suppression control research" and jiangsu province science and technology support project "micromanipulation parallel precision positioning platform system", this paper designs the control system of the macro dynamic positioning platform-the planar parallel positioning platform, and provides technical support for the development of subsequent macro-micro dual positioning platform system. This paper has carried out the following research:First of all, gives the analysis of the structure characteristics and the degrees of freedom of the planar parallel positioning platform, and builds the model of the parallel positioning platform kinematics reverse solution. This paper discusses the singularity problem of the parallel positioning platform, and gives a general method to judge the singularity and lists some singular configuration, and gives the analysis of the biggest workspace and orientation workspace of the parallel positioning platform and determines an attainable workspace of the parallel positioning platform.Secondly, this paper builds the Pro/E model of the planar parallel positioning platform. Through the correlation of the Pro/E software and Matlab software, deduces the simmechanics model of the parallel positioning platform, and adds the drive and detection module in the simmechanics model. With the simulation of the typical linear and circular trajectory, this paper proves the accuracy of the planar parallel positioning platform model, and realizes the visualization simulation of the parallel positioning platform.Again, this paper designs the control system of the planar parallel positioning platform. The hardware system consists of the structure form of "PC + the motion control card + the servo motor drive + the planar parallel positioning platform + the detection system", and the software system adopts the joint control of LABVIEW and MTALAB, which mainly adopts the control thought of " trajectory segment + interpolation + real-time feedback". This paper analyzes the control function and the advantages of the MPC08 movement control card, and gives the performance analysis and parameter setting of the servo motor drive, and sets the PID parameters of the servo motor. This paper designs the installation and measurement method of the sensor test system, and conducts the calibration experiment of the detection system. This paper designs the function module of the LABVIEW control program.Finally, using the control system of the planar parallel positioning platform, this paper conducts the calibration experiment and the trajectory tracking control experiment.Through the calibration experiment by three arrows’ sensors and absolute encoder, this paper verifies the reliability of the theoretical model of the planar parallel positioning platform. This paper conducts the straight line trajectory tracking movement and the arc trajectory tracking motion experiment of the parallel positioning platform, through the experimental data, it verifies the realizability and high precision of the planar parallel positioning platform control system. |
