Characteristic Analysis And Motion Control Of Bionic Parallel Mechanism

With the development of parallel technology,parallel robots have gradually been used in many fields such as sensors,lathes,medical equipment,and motion simulators due to their advantages of high rigidity,high precision,and strong carrying capacity.This paper applies it to the field of bionics.Because the existing bionic torso has problems such as simple structure,single movement mode,and low degree of bionics,this paper learns and imitates the structure,function,and mechanism of the mammal torso from the perspective of bionics,and establishes a bionic torso of parallel mechanism with multiple movement modes.This paper mainly focuses on the research of the bionic parallel mechanism.The mechanism,kinematics,dynamics,and other characteristics of the bionic parallel mechanism are analyzed in detail.Then the hardware system and software system are designed.Finally,this paper completed the control of the animal's torso in multiple movement modes.First,the development status and application fields of parallel robots at home and abroad are studied.The current research content and methods of parallel robots are investigated.The research content of this paper is determined.Secondly,this paper taking mammals as bionic prototypes.The structure,function,and mechanism of the mammal torso are studied.A bionic torso with a parallel structure is proposed and designed,which can realize various movement modes of an animal's torso.Then its kinematics and statics model are established.Thirdly,the characteristics of the rigid parallel mechanism are analyzed.The structural parameters are optimized by using the 3D search method.The motion space,space constraints and unbalance degree of force of the bionic parallel mechanism are analyzed based on dynamics and kinematics.Dynamic simulation is analyzed.Next,the characteristics of the flexible parallel mechanism are analyzed.The Structure is improved to design a Multi-DIM(multiple dimensions)vibration absorber platform.The kinematic model of the flexible parallel mechanism and the dynamic model of the coupler link are established.The dynamic performance of the parallel mechanism under different spring stiffness is analyzed to verify its Multi-DIM vibration absorber effects.The FFT method is used to analyze the buffer amplitudefrequency characteristics.To explore the variable stiffness characteristics of the flexible parallel mechanism,its dynamic performance under different positions and postures are analyzed.Then,The software and hardware are designed and the control frame is built.Besides,the hardware of the parallel mechanism is selected and the modular programs are programmed for each function.The DC motor is debugged and controlled.Finally,the software and hardware system of the whole machine are built to realize the motion control.Finally,the dynamic response experiment,simple movement mode experiment,compound movement mode experiment,and vibration absorber experiment are implemented.The experimental results show that the parallel mechanism can be accurately and quickly controlled in the compound movement,and the effects of buffer and vibration-reduction are verified.At the same time,the research results of this paper also have reference value for the research of other parallel mechanisms.