Research On The Forward/Inverse Kinematics Of Parallel Robot With Six Degrees Of Freedom

Parallel robot with 6-DOF(6-degree of freedom) because of its high rigidity and excellent dynamic performance and no cumulative position control error compared to the serial robot are widely used in a number of areas, such as parallel machine tool, robot manipulator and many kinds of motion simulation.The mainly two drive mode of 6-DOF parallel robot are hydraulic drive and servo motor drive, which high power occasions to hydraulic driven mainly, and parallel robots driven by servo motor are gradually occupy the small power applications with unique advantages.6-DOF parallel robot kinematics forward/inverse solution is a necessary step to implement the parallel robot closed-loop control and complex control, therefore to further improve in the research field of parallel robot, kinematics forward and inverse solution study is essential.The 6-DOF parallel robot driven by permanent magnet synchronous motor(PMSM) was been an example in this thesis. First, the kinematics inverse and forward solutions are studied in detail, and the corresponding algorithm are derived, and the corresponding kinematics inverse and forward solution module are been built in Simulink, the core of forward solution algorithm module is the realization of discrete Newton iteration method. At the same time, in order to the intuitive of study, this paper also established the preliminary 3D model of 6-DOF parallel robot in 3D modeling software Pro/E,and then import it into the mechanical system simulation software ADAMS to realize the kinematics forward/inverse solution simulation and derive the control system module corresponding to the mechanical system. Finally,to carry out the Simulink-ADAMS joint simulation in the Simulink and directly verify the correctness of the forward/inverse solution algorithm module and evaluate the performance of the forward solution algorithm.In this thesis, high performance PMSM control system is also been studied and analyzed. The PMSM-SVPWM vector control system which is suitable for the 6-DOF parallel robot is studied detail, and the simulation module corresponding to the closed loop control system is built in the Simulink. At the same time, it is also built the simulation module corresponding to the PMSM-SPWM vector control system to compare the simulation results with the PMSM-SVPWM system and intuitively display the superiority of PMSM-SVPWM vector control system.