Research On Dynamics Modeling And Control System Design Of Three Translational Parallel Robot

According to the control system design of three-translation parallel robot,and combining with the application research on the automobile body-in-white transportation locating platform in automobile product line, in this paper, the three-translation 3-UPU parallel mechanism is the research objection as the automobile body-in-white transportation locating mechanism. A lot of researches were made on the 3-UPU parallel mechanism, such as kinematic analysis, workspace analysis, modeling of dynamic mechanics and modeling of SimMechanics, in addition, designed the control algorithm and built the control system, according to the design requirements on the control system accuracy and speed of the transportation locating platform.According to the parallel mechanism parameters and characteristics, built the kinematic model by D-H method and geometric method and solved the direct and inverse answer and the Jacobian matrix of the parallel mechanism. Based on the restriction of parallel mechanism Hook link and mobile joint, Solved the workspace range and drew the 3-D workspace figure of 3-UPU parallel mechanism by using MATLAB. Then according to the second category Lagrange method, solving mechanism on the platform and branched chain of kinetic energy and potential energy and considering the movement of the branched chain friction, built the simulation model using planning trajectory and given the three drive torque curve. This article used three different control scheme to build this simulation model, taking the MATLAB SimMechanics toolkit to get a 3-UPU model for the simulation of control system. By using classical PID control, robust PI control and robust PI control algorithm based on improved genetic algorithm, we achieve control trajectory tracking curve under different control scheme, the speed tracking curve and error curve, etc.Finally considered control requirement of the white body positioning platform, the article select servo electric cylinder as 3- UPU parallel mechanism of drive unit, choosing the Thai company of four axis motion controller industry as lower computer and a PC as a control system of PC control system hardware.