Research And Development Of 2-DOF Parallel Manipulator Control System Based On Synchronous Control

With respect to the mature serial robot,the parallel robot(this paper refers to parallel manipulator)has good dynamic performance,less error transmission and so on.Because of these advantages,parallel mechanism has became the research hotpot.In parallel mechanism,2-DOF(2-Degrees of Freedom)parallel manipulator is a kind of robot with few degrees of freedom and its kinematic chains are driven by two active motors synchronously.Because the end-effector of the parallel robot is controlled by two motion joints,in other words,it is a high requirement for the control precision of the two active motors.Hence,this paper combines the idea of synchronous control with the traditional control algorithm,and be applied to the control system of parallel manipulator.The main works are as follows:1.Establish institutional mathematical model.According to the structural.a.The kinematic equation of parallel mechanism is established by using the typical vector method.The kinematics,singularity and workspace are analyzed,also control method and trajectory planning are studied;b.Constructing the dynamic equation of the mechanism by Lagrange equation.2.Control algorithm.The control algorithm combined with cross-coupled controller and the synchronous is applied to the model of the system,and the global stability of the controller is proved by Lyapunov stability theory.3.Control system model.The control mode of "Motion Controller(MC)and Human Machine Interface(HMI)" is adopted as the control model of the system.4.Experimental verification.Verify the control algorithm used in this paper and compare with other control algorithms mentioned in this paper.The experiment results of the combination of synchronous control and cross coupling verify good motion quality and tracking accuracy.