Motion Control Of The V3 Parallel Robot

Parallel robots are widely used in industrial automation production lines,especially in production lines of food packaged and pharmaceutical.As the most widely used parallel robot in the market,Delta robot occupies a large area,so there is great demand for robots with small space and large working space in the market.Based on this demand,this dissertation designs a corresponding motion control system for a parallel robot which the axes of the three revolute pairs on the moving platform are co-axis.The motion control system of this dissertation mainly consists of two parts: the design of the hardware platform and the software design.The design of hardware platform includes the circuit design of PC with the embedded motion controller,the design of control circuits for other components and the design of pneumatic circuits for pneumatic components.The construction of the software platform includes the writing of the user interface,the acquisition and preservation of the feedback information,the motion control function and the design of the path optimization algorithm.In view of the V3 parallel robot,this dissertation first analyzes the forward kinematics and inverse kinematics of this robot,and defines an inverse condition number to quantitatively analyze the singular configuration of robot.Then,in the aspect of speed planning,the performance of the two kinds of speed planning is compared on the V3 robot.After that,according to the V3 robot rotational with translational motion characteristics,performance of semi elliptical trajectory and minor circular trajectory are compared,and an optimal B spline interpolation trajectory based on a method take the maximum number of conditions as the optimization objectives was proposed.Finally,in order to verify the torque performance of V3 parallel robot,a dynamic model of V3 parallel robot is established.The prototype designed in this paper is verified by a series of experiments.Compared with the existing product Delta series Quattro 650 robot,the shortest running period is less 10 ms than it.