Research On Washout Algorithm Based On Five-axis Manipulator

The motion simulator has developed rapidly since its appearance in the 1920 s and is widely used in various fields such as vehicle simulation,aircraft simulation and ship simulation.Washout algorithm can simulate the sensation of movement within the infinite space in a limited space,so it is the key of the motion simulator.After years of development,the series mechanical arm has a very large improvement in control accuracy and load.It is also feasible to use the series mechanical arm for dynamic simulation.As a key technology of simulated motion,the washout algorithm has a great influence on the motion simulation capability of the series manipulator,which can improve the space utilization of the series manipulator motion simulation.This paper studies the application of the washout algorithm on a five-axis robot arm.Since the previous washout algorithms were designed based on parallel mechanisms,tandem robotic arms have not been extensively studied.The structure of the series mechanism is different from the parallel mechanism.It is necessary to study the kinematics and dynamics of the series mechanism to apply the washout algorithm to the series mechanism.Therefore,it is necessary to study the kinematics and dynamics of the manipulator and analyze the working space of the manipulator.The analysis of the tandem manipulator results in the requirements that the washout algorithm should meet.There are many researches on the washout algorithm,such as the classical washout algorithm and the adaptive washout algorithm.However,most studies do not consider the connection between each input channel,and it is easy to cause motion beyond the mechanical structure constraints.This paper introduces and analyzes the classical washout algorithm,and proposes the shortcomings of the algorithm and overcomes it.In this paper,the connection between multi-channel inputs is established by introducing the workspace,and the cost function is redesigned according to the principle of adaptive washout algorithm.The algorithm can be tuned in real time according to the position of the movement,which improves the utilization of the workspace in the motion simulation.Finally,the washout algorithm is simulated and verified in the series manipulator model.The results show that the improved adaptive algorithm has the characteristics of small output range and high fidelity,which can improve the space utilization of the series manipulator.