Research On Compliant Control Of Thestewart Platform

With the deepening of the application area of robotics and the sustained growth of the robot intelligent level request and the increasingly complex of the unknown environment where the robots work, robot’s compliance is becoming increasingly important. In order to meet the needs of the industrial production of intelligent, Such as assembly operations, surface tracking, repair surface, surface measurement, the future development of the robot must be intelligen and flexible.With the development of computer, control strategy, measurement and control and other areas and demand for industrial engineering, compliant control of the robots has become the hot topic of intelligent robots.This paper focuses on compliant control of the Stewart platform. Firstly, this paper studies the kinematics and dynamics analysis on compliant control of the Stewart platform. Use vector method to study the kinematics analysis.And use Lagrange method to study the dynamics analysis.Then build force、displacement、velocity and acceleration relationships between Stewart platform particle and each pole. The kinematics and dynamics analysis on compliant control of the Stewart platform provide a theoretical basis on the compliance control system.Secondly, we study the compliance control system and simulation on compliant control of the Stewart platform. Build the model which Stewart platform against the unknown environment. It is equivalent to a “Spring-Mass-Damper” system on each degree of freedom. Each degree of freedom has its own inertia、damp and stiffness. Through simulation software ADAMS and MATLAB, we will simulation study the system we build up. And the simulation results provide a theoretical basis and data support for us.Lastly, we build the compliance control system of the Stewart platform on real and study the compliance of the Stewart platform.