| Since the parallel mechanism has been put forward,3-RPS as a classic kind of the 3-DOF parallel mechanism,with the in-depth research and development of parallel robot has been widely applide in various fields.Which has two rotational degrees of freedom,and a moving degree of freedom mechanism characteristics is simpler and less coupled than 6-DOF parallel mechanism.It has a very wide application prospect in the field of motion simulator and parallel machine tool.First of all,this paper put forward the design indexes of 3-RPS parallel robot,establishing the inverse kinematics,dynamics models and the transfer function model of the electro-hydraulic servo system.At the same time,the models is verified by simulations using Matlab/Simulink and Simmechanics,and the key components such as Hooke hinge are selected and checked by dynamic model.Based on the transfer function model of the electro-hydraulic servo system,the dynamic characteristics of the electro-hydraulic servo system is analyzed,introducing phase advance correction,improve the stability and rapidity of electro-hydraulic servo system.Next,based on the kinematics,dynamics inverse solution of 3-RPS parallel robot,PID,QFT,calculation torque and Uncertainty Robust control strategly based on hinge control strategy are proposed.The simulation results show that QFT,Uncertainty Robust control has better control effect on 3-RPS parallel robot control.Lastly,the hardware of the single-cylinder electro-hydraulic servo system is built,write the control software control program,Based on the control strategy proposed in this paper,the single-cylinder electro-hydraulic servo system is experimentally verified and analysis.Test results show that the QFT control algorithm proposed in this paper has better control effect on the motion tracking and response speed of 3-RPS parallel robot. |
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