Research On Performance Analysis And Control Of Space Multi-degree Of Freedom Parallel Mechanism

Compared with serial robots,parallel robots have the advantages of large rigidity,compact structure,strong load capacity and simple inverse solution.In the field of high accuracy or large load without large workspace,parallel robots can give full play to their advantages.Especially,parallel robots has been fully applied in the driving simulation platform.This paper focuses on the performance analysis and control method of space multi-degree of freedom parallel robot,aiming to further extend the application of parallel robot.In this paper,the structure of the parallel robot of Stewart mechanism and the structure of new 3RPS/UPS mechanism are analyzed respectively.Through the matrix calculation and Newton iteration method,we completes the kinematics solution of the robot.In order to analyze the motion range and operation efficiency of the new 3RPS/UPS parallel robot,the working space of 3RPS/UPS parallel robot is obtained through spherical coordinate search method.The workspace volume of the 3RPS/UPS parallel robot is calculated by means of the infinitesimal method and the binary processing method.This paper analyzes a variety of model-free control algorithms for multi-degree of freedom parallel robots.For example,fuzzy CMAC neural network control algorithm based on fuzzy control and CMAC neural network;H infinity robust control algorithm;Back-stepping control based on RBF neural network observer that based on RBF neural network and back-stepping control.In order to verify the effectiveness of these control algorithm,a simulation model of parallel robot control system is built by MATLAB and SimMechanics.The simulation results show that the back-stepping control algorithm based on RBF neural network observer achieves good control effect on 3RPS/UPS parallel robot.And the H? robust control algorithm achieves good real-time performance and control accuracy on Stewart parallel robot.Through experimental platform verification of Stewart parallel robot,H? robust control algorithm can be applied to practical engineering environment of parallel robot properly.Finally,a visual servo control system on the Stewart parallel robot platform is built.Furthermore,we designs and analyzes the operational principle and control software in detail.The experimental results show that the platform can be used for test platform of control algorithm and simulation platform of motion sensing by proper improvement.This paper mainly discusses the characteristics and performance of space multi-degree of freedom parallel robot from three aspects: kinematics,workspace and motion control algorithm.And builds a visual servo control system of parallel robot.It has practical engineering value and wide application prospect for the popularization of parallel robot technology.