Error Analysis And Optimum Design Of Six-dimensional Controller With Sub-closed Loop

Six-dimensional controller is a kind of equipment with six-dimensional input capability,which can simultaneously carry out space translation and rotation operations,and has good application prospects in medical,industrial production,entertainment and other fields.In recent years,the demand for diversification of production and life has become increasingly urgent,which puts forward higher requirements for the performance of six-dimensional controller.The main mechanism of the existing six-dimensional controller has the problems of high manufacturing cost,low motion accuracy and poor dexterity.In view of this,a new type of six-dimensional controller with closed-loop intron is proposed,and its error analysis and optimization design are carried out.The main work is as follows:Firstly,a new type of 3-5RUU parallel mechanism with five rotating pairs is proposed as the main mechanism of the six-dimensional controller by using the planar kinematic chain as the sub-closed-loop structure of the mechanism.Its structure,working principle and kinematic process are described.The degree of freedom of the mechanism is analyzed by means of equivalent transformation method and Kutzbach-Grübler formula.It provides a theoretical guarantee for the realization of the function of the six-dimensional controller.Secondly,based on the inverse kinematics solution,combining the closed vector method and matrix differential method,the error model of the main mechanism of the sixdimensional controller is established,and the error transfer matrix is obtained.According to the error transfer matrix,single error analysis and error sensitivity analysis are carried out to obtain the influence of each error source on the position and attitude accuracy of the end of the mechanism and the error sensitivity characteristic curves of the mechanism under several motion conditions,which provide a theoretical basis for the follow-up.Thirdly,genetic algorithm is used to optimize the rod length of the six-dimensional controller with the objective of minimizing the error sensitivity of the main mechanism.The linear weighting method is used to integrate the three error sensitivity indices to transform the multi-objective optimization model into a single-objective optimization model.The constraints and design variables are determined according to the configuration conditions of the mechanism.The error sensitivity characteristic curves before and after optimization are compared,and the six-dimensional controller is optimized.Finally,the function realization of the six-dimensional controller and the method of reducing random error are studied.The working principle of the six-dimensional controller is clarified,and the main structure of the controller is designed and a prototype is built.Based on the analytic hierarchy process,the random error of the controller reduction,to further improve the accuracy of the six dimensional controller.