Research On Control System Of3-RPC Type Parallel Manipulator Based On Fuzzy Sliding Mode Variable Theory

Parallel mechanism has many obvious advantages over serial robot. the two kinds robot hascomplementary relationship. the parallel robot is used in various fields, its main feature is theparallel robot stiffness, the small error, strong carrying capacity. Parallel robot is a multi-loopclosed-loop structre that the control is relatively difficult to study, So study the control has topromote its application in industry.In this paper, two different control modes research the3-RPC parallel robot trajectorytrackingcontrol, comparative the effect of the different control strategies generated. through the trajectorytracking control conclusion for the selection of better control measures to improve the performanceof the parallel robot system, and provide an important theoretical basis. The contents of this paperare mainlythe followingaspects:First. we must know their movement when analyse the parallel robot control. used screwtheory to analyze the degree of freedom, Applying the geometrical analysis method to analyze theposition inverse solution and forward position solution, and used screw theory to analyze thedegree of freedom. Based on the loop route influence coefficient methed influence coefficientmatrices are solved the speed and acceleration. The kinematic analysis provides the theoreticalbasis for the agencyand obtain the driver displacement desired trajectory.Second, based on Lagrange’s equation analysis the dynamic equation of Parallel robot, and itcan solve driving force of each driver vice. in this paper,it select motor system. Determine themajor components of motor system and its transfer function. basis of the calculated inverseposition plan the parallel robot’s trajectory, according to use the displacement of the parallelrobot’s each chain drive pair as the expected trajectories, and applying Matlab to model andsimulate the expected trajectories. This will pave below.Finally, Provides a sliding mode control theory and fuzzy control theory, and provide atheoretical basis for the control. on the basis of the kinematics and dynamics. Were used to slidingmode control and adaptive fuzzysliding mode control, and based on Matlab simulation software tosimulate and analyze the trajectory tracking control, so as to verify to validity of the controller andcomparative analyze the control algorithm accuracyand concluded.