Virtual Decomposition Control Of 2-6UCU Series-Parallel Mechanism

With the development of science and technology,people are increasingly researching complex super-degree-of-freedom mechanisms,and serial-parallel mechanisms are typical representatives.To a certain extent,the series-parallel mechanism can combine the advantages of the series mechanism and the parallel mechanism,and has unique applications in some special occasions.However,the control of this complex mechanism,especially the high-precision control based on the model has always been a difficult point of research.The famous scholar Zhu Wenhong proposed a control method for complex robots-Virtual Decomposition Control.Provides ideas for precise control of series-parallel mechanismThis paper first gives a brief description of the basic theory of series-parallel mechanism and virtual decomposition control.Then according to the research method of virtual decomposition control and the unique structural characteristics of the series-parallel mechanism,the virtual decomposition scheme of the series-parallel mechanism is determined.Firstly,based on the modular virtual decomposition control idea,the series-parallel mechanism is analogized into a series mechanism for virtual decomposition,and the parallel mechanism subsystem obtained by virtual decomposition is subjected to secondary virtual decomposition,thus determining the overall research idea of the full text.To realize the virtual decomposition of the series-parallel mechanism,it is necessary to complete the virtual decomposition of the parallel mechanism first.At present,there is no relevant literature to realize the virtual decomposition of the parallel mechanism.Therefore,the virtual decomposition of parallel mechanisms has become a focus of this paper.In this paper,the application of virtual decomposition control is extended to the field of parallel mechanism,and the complete virtual decomposition kinematics and dynamics model of parallel mechanism is established.In this process,the load distribution method proposed in virtual decomposition control is combined with Newton’s Euler method to solve The load distribution problem of the parallel mechanism is given,and the complete analytical solution is given.This paper also uses Simulink to build a model of the system to simulate and verify the effectiveness of virtual decomposition control.In order to realize the virtual decomposition control of the series-parallel mechanism,this paper draws on the research method of the series mechanism,and uses the Newton iterative algorithm to realize the kinematics inverse solution of the series-parallel mechanism.Combined with the virtual decomposition control method of the parallel mechanism,this paper quickly realizes the virtual decomposition control of the series-parallel mechanism.Although the series-parallel mechanism is complicated in structure and has many formulas,this method becomes very simple in thinking.After the modeling is completed,Simulink is still used for simulation to verify the effectiveness of the virtual decomposition control.Finally,the experiments are carried out for parallel mechanism and series-parallel mechanism.The trajectory tracking,step response and sinusoidal response are used to analyze the actual control effect of virtual decomposition control.The comparison between PID control and virtual decomposition control is used to illustrate the virtual decomposition control.