Research On Dynamics And Visual Servoing Based On The Tau Parallel Robot

The object of this research is the Tau parallel robot,a new-style serial-parallel robot,which has both the advantages of big work space for the series robot and the advantages of high-rigidity and high-accuracy for parallel robot.The kinematics and structure of the Tau parallel robot are analyzed firstly.Based on the unique structure,the DOF(degree of freedom)of the robot when using hooke joint or spherical hinge is analyzed by the traditional and improved K-G method,and it is theoretically proved the feasibility of both condition.Then build the forward and inverse kinematic model of the Tau parallel robot,and a method to eliminate the multi-solution based on the initial state of the structure is proposed.The correctness of the model and the elimination method are verified by the combined simulation of ADAMS and MATLAB.The dynamics of the Tau parallel robot is analyzed secondly.And a new dynamic modeling method is proposed,which was combined Lagrange method with UdwadiaKalaba method and applied to the Tau parallel robot.Tau Parallel Robot is divided into three branches and a mobile platform.The dynamic models of the branches are built by the Lagrange method,the dynamic model of the moving platform is built by the Udwadia-Kalaba method,and combining with the structure constraint model of robot,we build the dynamic model of the robot by the Udwadia-Kalaba equation.Also the solving methods of the forward and inverse dynamics are made a concrete analysis.The simulation result in MATLAB proves the correctness and feasibility of the proposed method.Finally,add the visual system and presents a dynamic and servo method based on the eye-tracking.Get the robot's path trajectory by using the artificial potential field method,and the traditional PID control is used to complete the image-based visual servoing control.Meanwhile,the trajectory we get is integrated into the structure constraint model.The new dynamic model will be built according to the UdwadiaKalaba equation,and it achieves the torque control on robot driver with the basis of visual path planning.