Design And Experimental Research Of 2SPR-2RPU Parallel Robot Control System

In this paper,a new kind of 2SPR-2RPU parallel mechanism as control object,the manipulator control system design.Kinematics analysis of the new agencies,calculates the degrees of freedom,to solve the inverse solution.Developed by UMAC PC + motion controller as the core of the control system framework by UMAC regulation of multi-axis motion controller,the PID parameter optimization and good steady-state and dynamic performance,and finally realizes the follow error minimization,to achieve the control of the parallel mechanism based on UMAC application in production.The main contents include:(1)Master development and application status of parallel robot,mainly discusses the parallel robot control system present situation and development trend.The characteristics of clear multi-axis motion controller UMAC and its superiority in the aspect of parallel mechanism control.(2)In view of the 2SPR-2RPU parallel robot kinematics modeling analysis.Kinematics modeling methods are divided into analysis method and geometric method,using geometry method to solve the organization degree of freedom in this chapter,the inverse position solution,lays the foundation for the further research of the parallel mechanism control problem.(3)Mainly described the 3 d model of parallel robot is created,will be drawn with SOLIDWORKS 3 d model into MATLAB,this method retains the parallel robot is all constraints,theoretical results more reliable.3 d model can be generated by the method can real-time display in simulation process.This method is more efficient than traditional way.(4)Design of parallel robot control system,to simulate using two different control methods to control 2SPR-2RPU parallel robot.Two is the conventional PID control and fuzzy PID control.By comparing the simulation results index selection of appropriate control scheme.(5)Building 2SPR-2RPU parallel robot prototype,and complete control system.Described in the previous chapters based control system and the application of parallel mechanism environment,to ensure the real-time and accurate trajectorytracking and fast response as the goal,choose to buy the appropriate controller,drives,servo electric cylinder and other hardware equipment,establish communication,complete the experiment,to ensure the correctness of the control scheme.