Research Of Pneumatic Parallel Manipulator With Two Degrees Of Freedom

In modern social industry,in order to improve the efficiency and quality of product as well as to reduce the production cost,it has become a trend of the times to put production robot into the social production.With the advantages of small volume and quality,high bearing capacity,simple mechanical structure and easily conveniently designing,apparently Parallel Robot is superior to Serial Robot.Considering of safety,cleanness,energy conservation and environmental protection,air power is more suitable for some specific production environment.In addition,thanks to the mature development of the pneumatic servo control technology,it has been more and more widely used.Therefore,the research of pneumatic parallel robot does have great significance.In this article,pneumatic parallel robot with two degrees of freedom(DOF)is treated as the research object,and its structure is designed depend on the selected low friction cylinder.Based above,first of all,the parallel structure is designed from mechanical aspects.Then the two cylinders synchronous coordination control is implemented based on fuzzy adaptive PID control algorithm,and the teaching of parallel manipulator motion control is also achieved.(1)Taking the pneumatic parallel manipulators with two DOF as the study object,this paper gives its mechanism design according to the movement simulation.Besides,the electricity/air circle of the whole system is also designed,including the acquisition and processing of displacement signal,the drive circuit of solenoid valve,the power circuit and so on.(2)This paper also gives the kinematics and dynamics analysis of the structure of two DOF-manipulator.By deducing the positive and inverse equation of the parallel manipulator,the singular position is analyzed and the optimal working space is get.Finally,according to the movement simulation results,the accuracy of kinematics model based on the manipulator structure is confirmed.(3)To design a control algorithm suits for this system,the fuzzy auto-adapted PID algorithm is adopted to the movement control of the cylinder according to manipulator'smotion behavior.This paper introduces this fuzzy controller in detail,including the realization of algorithm.According to the experiment results of the movement control of the air cylinder,this algorithm's serviceability to this system is confirmed.(4)The coordinated motion control is the most important part.First,a two-cylinder movement coordinator is designed according to the expected effect.And its related parameters are set according to the motion effects after experimental study.And then the robot trajectory design and software design is introduced.Finally,the motion experiment of parallel manipulator is conducted for the analysis of the system.