Research Of Planar 2-DOF Redundant Parallel Manipulators

Parallel robot,with its high precision,strong bearing capacity,high rigidity has been widely used in industry.The introduction of the redundant actuation can increase the effective working space of parallel robot,strengthen its joint driving force.However,due to the complexity of parallel robot mechanical structure,make its kinematics and dynamics performance analysis harder.In this paper,a planar 2-dof redundant parallel robot as the research object,from the kinematics analysis,dynamics,kinematics calibration modeling and controller design for deeper study.Based on the model of the planar 2-dof redundant parallel robot,this paper first carries on the kinematics model is established.Through the model of parallel robot is deduced respectively kinematic positive and reverse solution of the problem.At the same time,considering the kinematics of parallel mechanism is normally solution is more difficult to obtain,thus introducing neural network was proposed to solve the problem,and combining the subjects of parallel mechanism forward movement to solve the MATLAB simulation analysis.In practice,in order to better play to the advantages of high precision parallel robot,need to be calibration.This paper presents the intelligent optimization algorithm combined with the research object,its kinematics calibration,for the various parameters of the made in MATLAB simulation and data analysis.Studied the planar 2-dof redundant parallel robot dynamics problems.With Lagrange method research object from the parallel mechanism is divided into series of the institutional dynamics modeling of the reentry after,finally through the various differential equations were derived,laying the groundwork for controller design.Based on the kinetic analysis of the parallel two-degree-of-freedom redundant parallel robot,a fuzzy adaptive controller based on dynamics is designed.In order to compare the trajectory tracking effect of the dynamics controller,a PD(proportional derivative)controller based on kinematics is designed.Through the design of the control rate of the above two controllers,and the controller model is built on Simulink,the results of the two controllers are analyzed by tracking the same motion path to obtain the kinematic controller and the kinetic controller Different control effects and accuracy.