Research On The Design And Motion Control Of A Dual CPM Parallel Robots System

In industry,there are some relatively complex tasks,such as handling large volume and large weight objects.It is difficult for single robot to accomplish these tasks.But there may be some small robots in the field.Without additional investment,a coordination system can be made up of these robots.And the system will effectively complete the task of handling large volume and large weight objects.Compared with the series robots,the parallel robot has the advantages of high rigidity,stable structure,better bearing capacity.And the parallel robot has been widely used in industry.In this paper,aiming at handling the volume and the weight of the object,a dual CPM parallel robot coordinate system is designed,which uses two parallel robots as a system.Its aim is to make up for the limited ability of single robot.The main work is as follows:The kinematics of traditional CPM parallel robot are analyzed.For the lack of a CPM parallel robot,a improved CPM parallel robot is proposed in this paper.The kinematics of improved CPM parallel robot is deduced.And the improved CPM parallel robot is lightweight design.For the task,a dual CPM parallel robot system is designed.Firstly,the kinematics of system which designed of two CPM parallel robots is analyzed.The constraints of system are deduced.Secondly,some control methods are analyzed.This paper puts forward using the method of iterative learning control in the task.The motion simulation of the double CPM parallel robot system is carried out.Three dimension model of double CPM parallel robot system is carried out by the use of SolidWorks.Then 3D model is imported in MATLAB.And whit the use of Simulink,simulation of control is carried out.The result shows the effectiveness of iterative learning control in the double CPM parallel robot system.The theory and Simulation of double CPM parallel robot system are verified by experiments.The double CPM parallel robot system is produced.And the hardware and software system are built.The hardware system includes the structure of the control system,the selection of hardware and the design of the electrical parts.The software system includes the software level and the core functions of the software.The iterative learning control strategy is used in the experiment of dual robot system.In the first,a single joint experiment is carried out to verify the effectiveness of iterative learning control of single joint.Secondly the experiment of dual robot coordination is carried out,which chooses the trajectory of single direction X.Based on the analysis of the experimental results,it is concluded that compared with PID,the iterative learning control strategy has a certain advantage in this system.