Research On Control Algorithm Of 2-DOF Parallel Robot Based On Acceleration Feedback

Along with the development of social production,the robot industry is in the unprecedented prosperity.The less degree of freedom parallel robot can't meet the intelligent production demand,therefore,this paper carried out research on a 2-DOF planar parallel robot.The positional relationship between the moving platform of the 2-DOF planar parallel manipulator and the corner of the active joints are established.Dynamic model of planar five bar parallel mechanismis is established by using the Lagrange equation.The equivalence of the planar five-bar parallel mechanism and the 2-DOF planar parallel robot is verified.With a single shaft system as research object,this paper systematically introduces the basic principle of acceleration feedback control.From the analysis of system inertia and robustness point of view,illustrates the advantage that the control system can effectively increase the resistance to external disturbance and load variation with acceleration feedback.The system with acceleration feedback can effectively improve the response to the nonlinear friction characteristics of the system from the angle of system stability.From the angle of system analysis and amplitude frequency characteristics of the system were expounded in the future the acceleration feedback can make the natural frequency of the system increases,so as to improve their ability to suppress mechanical resonance.The acceleration feedback control is applied to the 2-DOF planar parallel robot,and we design the PD control law,augmented PD control law and acceleration feedback control law.The comparison demonstrates the performance superiority of acceleration feedback control in the control system when the load changes.Finally,with the joint simulation of ADAMS and MATLAB,it's proved that using the acceleration feedback control method is effective.In order to eliminate the uncertain influence caused by the acceleration feedback,the sliding mode variable structure control is introduced on the basis of the acceleration feedback control to further improve the robustness of the system and improve the response speed of the system.The research is significance to the popularization and application of the 2-DOF planar parallel manipulator.