Research And Control Of Parallel Robot Based On Inverse Dynamics Feed-forward System

Based on the background of Made in China 2025 and industry 4.0,robots are widely used in aerospace,marine equipment manufacturing and other fields.At present most of the existing general-purpose assembly robots use serial joint type industrial robots as the main body,this type of robots is only suitable for the docking and assembly of light and small workpieces,the external environment exerts forces and moment on the end of the robot,resulting in unstable movement and low accuracy during the docking and assembly process.In response to this problem,this paper combined with the Jilin Science and Technology Development Plan project ? Large workpiece flexible assembly docking robot with autonomous positioning and navigation?,built an experiment platform with a parallel Six-degree-of –freedom robot as the body,designed an inverse dynamic feed-forward system,and completed System simulation and related experiments,main tasks as follows:First of all,research and analyze the existing dynamic modeling methods and dynamic control technologies at home and abroad,and summarize the advantages of the modeling methods and control technologies.According to the Jilin Provincial Science and Technology Development Plan project,?a large workpiece flexible assembly docking robot with autonomous positioning and navigation?.Based on the inverse dynamic feed-forward parallel robot control system plan,according to the system plan to select the system hardware,designed the electrical connection diagram,completed the system hardware platform construction and debuggingSecondly,aiming at the problem of establishing in inverse dynamics model for parallel 6-DOF platform,the platform and electric cylinders such as speed,acceleration,angular velocity,angular acceleration are deduced through the inverse kinematics,and the moment of inertia of the platform and electric cylinder are deduced through the parallel axis theorem.Then use the Newton-Euler method as a method of parallel six-degree-of-freedom platform inverse dynamics model and sort in into a matrix form.To verify the correctness of the model,in this paper,the platform of the laboratory is used as the research object,by comparing the simulation model established by Matlab and Simulink with the simulation model established by ADAMS,the error of axial force of each electric cylinder is calculated to verify the correctness of its inverse dynamics model.Then,design Inverse dynamic feef-forward system.Tuning PID parameters of position loop,speed loop and torque loop in inverse kinematics closed-loop control system based on particle swarm algorithm,and designing a Total Control System Containing an Inverse Dynamics Moment Feed-forward System.Using Matlab and Simulink to build a control system including inverse dynamic torque feed-forward and a kinematic closed-lopp system simulation model,through the curve analysis of the simulation model,the system including inverse dynamic torque feed-forward improves the position tracking accuracy and response speed of the electric cylinder,and suppresses the disturbance of the system from external environmental interference.Last,system software design and experiment.Under the windows system,the control program and operation interface were written by VS2013 and Qt software,and the experiment of given environment interference at the end of the robot by the inverse dynamics feed-forward system of parallel robot was carried out.The experiment results show that when the robot is disturbed by the outside world during the movement,the method can well suppress its disturbance,has good stability,and improves the accuracy of movement.