Research On Motion Control Of The New 3-PUU Space Parallel Robot

With the development needs of food, medicine, consumer goods and other automated production lines, this project developed 3-PUU parallel robot instead of workers to meet the light-load, high-speed, high-precision assembly line job requirements. Since the 3-PUU parallel robot three-dimensional translational and rotational levels are independent of each other, and the three-dimensional translation is the key to its performance, so this project was only for a three-dimensional translational research. By studying this subject, so that there is a good robot kinematics, dynamics performance for 3-PUU robot design, control system design to provide theoretical support to make up for domestic 3-PUU parallel robot in the food, pharmaceutical,consumer goods, etc. insufficient production line applications industry and improve the level of automation of production has important significance and application value.On the basis of this study of DELTA parallel robot on its Movement Control. It relates to the robot kinematics, dynamics, singularity, work space, trajectory planning and control strategies.The trajectory planning and control strategy is to ensure that the robot speed, high-precision movement is the foundation of the robot, which is the important of the research.Firstly, research make the position inverse solution analysis, simplified 3-PUU parallel robotic mechanism, using an expression vector method to obtain the position of the robot inverse solution and the establishment of joint MATLAB and ADAMS simulation system, to verify the reasonableness of expression and inverse solution correctness, and the establishment of inverse dynamics equations;Secondly, the task does research on the singularity of working space, analysis of parallel robot singular configurations to get the necessary conditions for parallel robots singular configuration appears, and proposed measures to avoid the singularity shaped;using MATLAB / SimMechanics simulation method to get the machine up Workspace;Research carried out trajectory planning and motion control of the trajectory of the actuator and the motion path planning at the end of the robot; calculation based on a simplified model of reverse torque controller dynamics; establish joint simulation based on MATLAB and ADAMS control system analysis computed torque controller and the reasonable of the robotFinally, the correctness of the dynamic model is verified by the load characteristictest and the mechanical hand grab frequency test.