The Study Of Parallel Manipulators On Automatic Modeling And Motion Control

Parallel manipulator is an excellent candidate for advanced robotic applications by virtue of their low moving inertia, high dexterity and high power to weight ratio. Parallel manipulator has broad application prospects and is always the hot spot of research within the filed of parallel manipulator. With the development of the industry, parallel manipulators are becoming more and more important in actual applications. A further study of the basal theory on the parallel manipulators is needed.The paper studied a variety of parallel manipulators, including the aspect of modeling automatically, automatic construction workspace and motion control automation.All the research are based on the CAD variation geometry method and the CAD software technology by use of VB for secondary development. The main contributions are as follows:Based on the method and the software technology, as mentioned above, the paper analyzed the basic elements of parallel manipulators geometric model which can be built automatically by calling the API function of the CAD software, extracted the key parameters which are set as variable for users to input and designed the human-computer interface of geometric model to establish.Based on CAD variation geometry method and automatic modeling technology, the key dimensions for solving parallel mechanism forward/inverse solution were analyzed and setted as variable. And combined with the dimension-driven technology, the paper finally realized the forward/inverse solution of the parallel manipulators automatically and designed the human-computer interface for it.Based on CAD variation geometry method and automatic modeling technology, the workspace points are searched cyclically by setting each linear drive rod long range and step size values for the geometric structure of the model, using dimension-driven technology. The MATLAB is called by VB through the Active X technology, and the workspace of parallel manipulators is drawn with MATLAB.Based on CAD variation geometry method, a new method to control parallel manipulators is proposed. The traditional model, that is PC machine and motion control card, is used in this method. Given trajectory task, the kinematics inverse solution which can be transferred automatically to the motion controller through the language VB is obtained to control the parallel manipulators by using the CAD variation geometry method.