Research On Dynamics And Control Of 2-DOF Planar Parallel Robots

China is changing into a innovative country and labor cost is getting higher, so industrial automation equipment like industrial robot is much more demanded. this paper carried out relevant research on a 2-dof planar parallel robot.According to the structure of the robot, analyzed its kinematics, solved its workspace and proposed a method of trajectory planning. Established the dynamic model of the planar five-bar parallel mechanism based on Lagrange dynamics equation, by analyzing the total energy of the system, derived out the relationship between robot dynamic model and the planar five-bar parallel mechanism dynamic model, so as to put forward the method of equivalent dynamics model parameter identification step by step, and simulated it by use of dynamic analysis software ADAMS and mathematical analysis software MATLAB.In order to improve the robot's kinematic accuracy, adopted the feed-forward control mode in dynamic model and set up its virtual prototype control model, combined ADAMS with Simulink to do series of experiments under different speed and load to study the effects of feed-forward control on robot accuracy.Developed a robot control software by VC6.0 which transmitted signals with servo driver in serial communication mode and communicated with PMAC motion controller by calling the dynamic link library. Wrote movement controller programs and PLC programs, combined the trace informations of the host computer control software with robot kinematics equation and trajectory planning equation, which were applied to the physical prototype to control the robot.Employed the method of equivalent dynamics model parameter identification proposed in this paper to identify the equivalent parameters of robot physical prototype, and adopted the torque feed-forward control mode to complete the related experimental demonstrations on the basis of servo closed-loop PID controller. The experimental results verify the correctness of the equivalent dynamic model and the effectiveness of step identification method, and show that the feed-forward control method can effectively improve the robot's motion accuracy, reduce the following error, and weaken the influence of different load on motion precision.