Research On Synchronized Control Strategy For Parallel Manipulator Based On Cross-Coupled

In this paper,combined with 3D printing,robot glue,parallel machine tool,and other fields of parallel robot trajectory precision requirements,in the national natural science fund "high-speed parallel mechanism based on motor performance parameters of the integrated optimization design" project,with three DOF Delta parallel manipulator as an example,this dissertation presents the contour error model and cross-coupled synchronization control,including kinematics and rigid body dynamics modeling,contour error of mathematical modeling,and cross-coupled controller design,and connecting with the engineering prototype Delta parallel manipulator,performance test study.The following achievements have been acquired:In terms of kinematics and dynamics modeling is established by applying the method of vector chain manipulator kinematics model,and according to the characteristics of the parallel robot inverse problems to solve,the positive position solution expression is obtained.At the same time using jacobian matrix method,the velocity and acceleration analytic expressions of the parallel robot is botained.According to the characteristics of the parallel manipulator,a complete and simplified rigid body dynamics model is established.Simplified rigid body dynamics model has high computation efficiency and good accuracy,and for robot based on cross-coupled torque feedforward control lay the foundation.In the aspect of spatial contour error modeling,the first aimed at 2D plane curve,the trajectory contour error model for straight line and arc is established.On the basis of the extensions in three-dimensional space,the contour error model of any curve in 3D space is established and analyzed..In view of the three dimensional space contour error model,the innovative is put forward based on the Frenet frame of the spatial contour error estimation model,the error estimation model based on Frenet standard frame is proposed,and the effect of time delay effect on the contour error is eliminated,and improves the effect of the control algorithm on contour error control.In terms of cross-coupled controller design,aiming at Delta parallel manipulator,a variable gain cross-coupled controller is designed,and analyzes the lyapunov stability of the cross-coupled controller.Simulink dynamic simulation model was set up at the same time,and in combination with PD control,torque feed-forward PD control are simulated,the results show that the cross-coupled controller for improving the robot contour tracking precision effect significantly.Using the above research results,to carry out the cross coupling control performance test.Experimental results show that under the space in a straight line,arc track test,cross coupling control based on torque feedforward has reduce the contour error and good effect of joint tracking error,and then verify the validity of the theory and method described in this article and effectiveness.This article research results to the development of parallel robot control theory,and it has important theoretical and practical value to promote its application in practical engineering.