Research On Kinematic Analysis And Control Of Tripod Parallel Robot

With the development of science and technology,the technology of robot becomes gradually mature.In addition,robots have been widely used in production and life.The parallel robot has the advantages of high rigidity,high accuracy and high speed,which make up for the lack of bearing capacity,accumulative error and low location accuracy of serial robots in operation.However,due to the nonlinear,strong coupling and complexity of the parallel robot,it is difficult to get a precise requirement in practical application.Therefore,in order to better apply the parallel robot to the production and life,it is of great significance to do deep research on it.This paper takes B&R Tripod parallel robot as the research object,takes the motion control as the main line,and studies from the aspects of kinematics analysis,dynamic modeling,workspace analysis,and control algorithm design based on dynamics.At first,in this paper,the coordinate system is set up based on the simplified model of Tripod parallel robot.Based on geometric method,analyze the inverse kinematics solution of the mechanism and the expression of the inverse kinematics solution is obtained.On the bases of the inverse solution and constraint equation,the forward kinematics solution expression is deduced and the correctness of the kinematics model is verified with examples.Exploit the principle of virtual work and gain the dynamic equation of the robot,which provides the basis for the research of the later correlation control algorithm.Secondly,based on the mechanism Jacobi matrix,the singularity and singular configuration of the robot are studied.According to the inverse kinematics and constraint conditions,we use the search method to study the workspace of the Tripod robot and the work space diagram limited by constraints is drawn.Aiming at the motion problem of end effector in workspace,based on sine correction trapezium acceleration law,trajectory planning is carried out in Cartesian space.Finally,according to the dynamic model of the Tripod robot,study the trajectory tracking problem of robot by Fuzzy adaptive control algorithm.A controller is designed to analyze the stability of the system,and compared the control effect with the conventional fuzzy control strategy.The experimental results are that,the designed controller can make the robot control system have high precision track tracking control ability,and the control effect is better than fuzzy control.The article also analyzes the influence of design parameter variation on trajectory tracking control performance by using the parameters designed in control law.The result is that,properly changing parameter in the control law can increase the control accuracy of the system and improve the trajectory tracking performance of the robot.