| Parallel robot has the characteristics of being able to withstand large loads,high location accuracy,rigidity and stability of the mechanical structure.With the deepening of its research and the continuous innovation of its structure,its application in industrial production is becoming more and more common.This paper summarizes the domestic and foreign development situation of parallel robot,summarizes the advantages and disadvantages of the typical principle prototype,introduces a desktop type parallel robot with six degrees of freedom,the performance,structure,size and other parameters were determined for the design of mechanical structure,in the Solidworks 3D model of the robot was established.By using the space vector method,the coordinate changes of the six sliders are solved by the displacement analysis of the moving platform.The closed loop constraint equation of the robot is established by using the geometric relation.By solving the constraint equations,the inverse kinematics and positive solutions of the robot are obtained,and the kinematics analysis is carried out.On the basis of solving the kinetic energy and potential energy of each moving part of the robot,the Lagrange function of the robot system is obtained.By solving the differential equation of Lagrange's function on the generalized coordinates,the dynamic model of the robot is obtained,and the dynamic analysis is carried out.In Adams,the kinematics and dynamics simulation are carried out to verify the correctness of the theoretical calculation.With the help of Matlab's SimMechanics module and Simulink module,the PID control simulation platform of the robot is built.The joint simulation study was carried out.On the basis of the designed PID controller,the influence of the controller on the terminal motion platform is analyzed by the control variable method,and the influence of every link parameter of PID controller on the end motion platform is analyzed.The trajectory planning is carried out and the feasibility of the motion trajectory is verified in the experiment.It has important guiding significance for the design and parameter optimization of the parallel robot. |
