Research On Modeling And Control Simulation Of High Speed And Micro Parallel Manipulator Used For Seed Separator

Based on the research background of seed separator, this thesis does research on the2-DOF parallel manipulator by using the research tools of SolidWorks and MATLAB. This thesis has a profound study on the aspects of kinematics analysis, scale of comprehensive optimization, trajectory planning,3D modeling, and joint control simulation, etc. What’s more, by the overall adopting of the design concept of paperless, this research has certain reference significance on the studies of parallel mechanism and designing methodologies. The results of the research are as follows:According to the functions of seed separating and their needs, this thesis combines the characteristics of a parallel mechanism and chooses the2-DOF planar parallel mechanism as the actuator of seed separator. What’s more, it simplifies the mathematical model and analyzes the models in the aspect of kinematics analysis. And then the kinematics forward and inverse solutions, velocity and acceleration formulas are exported. Therefore, it lays a theoretical basis on MATLAB and determines maximum and practical working space.This thesis also does a profound research on the optimizational methods of the length of2-DOF parallel mechanism bars. It analyzes the corresponding boundary conditions of parallel manipulator’s working space. In addition, it adopts the condition number of Jacobi matrix as the evaluation index of global performance. And by adopting the method of the normalization of the individual bars, this thesis makes an optimal analysis and provides several restrained conditions. A relatively better optimization finding is gained by the optimizational methods via computer.A further study has been made by the trajectory planning and control methods of the actuator’s end of the parallel manipulator. By analyzing the different kinds of acceleration and deceleration control curves and computer simulation, the most optimal trajectory control methods are determined.In this thesis, the organization and parts of the parallel manipulator are designed. And the entity model of parallel manipulator is established by using the SolidWorks which includes the assembly and interference checking of the model.Based on the software of MATLAB, the3D model of the2-DOF parallel manipulator which is established in the SolidWorks is successfully imported by the plug-in of SimMechanics Links simulation environment. The motion control program is successfully compiled, and the motion simulation of parallel manipulator is realized. According to the simulation finding, the analysis of the actuator’s trajectory of parallel manipulator is on the aspects of displacement, velocity and acceleration by using MATLAB’s graphic display function. What’s more this thesis makes a kinematics and dynamics analysis on the individual joints of the manipulator. And the findings help to estimate the parameter of servo motor. In addition, the finite element analysis is made on the active arms which are of a larger force.And the rationality of the design is further verified.In conclusion, this thesis has certain reference significance on the aspects of the design of2-DOF parallel manipulator mechanism and MATLAB simulation.