Study On Motion Control System Of The 2-dof Translational Parallel Manipulator

The parallel robot,referencing to the parallel manipulator in this paper,has the advantage of less motion inertia,higher stiffness,better dynamic performance over serial robot.The high-speed and light-weight robot has being widely used in light industry field,such as electronic,food.Therefore,independent development of the manipulator,meeting the enterprise's special need of heavy-load,low-speed,high-precision,has important practical significance,which can promote the industrialization process.The following works have been completed.Confirm the coordinate frame and parameter of link by D-H method in the kinematic diagram rapidly and accurately,then the inverse kinematic equations are established through matrix transformation.For another,direct kinematics equations are developed by geometric method.Finally,the correctness of the position modeling is verified by MATLAB programming.Accroding to the manipulator's requirement in the working space,its trajectory planning is confirmed,based on quintic polymomial and the linear interpolation method with parabola.Then the quintic polymomial method is proved to be reasonable by programming.Finally,kinematics simulation based on the Pro/e 5.0 is presented,which shows that quintic polymomial method is reasonable and the kinematics model established in the prior period is correct.The motion control system is designed and developed by using mode of “PLC+HMI”.Designing the system diagram,general framework of the hardware,while some devices such as PLC,servo unit,detection and feedback unit are selected and introduced.Then main flow diagram is designed.And by using the PLC's function of phase controlling,linear section of the interpolation to guarantee that the two motors can make a coordination movement efficiently and accurately after the algorithm flowchart of linkage between the two motors is designed.Motion parameters of the motors during the process of a movement along the planned path are collected,based on the established motion platform.After compared with the standard data,excluding the system's error,interference and other factors,the overall trend of the manipulator's motion curve is in accordance with the theoretical curve,which also verify the motion system is correct.What's more,the follow-up improvement direction and method is proposed to promote the motion system's reasonable and research and development's efficiency.