Path Planning And Multi-Objective Control Of DELTA Parallel Robots

DELTA parallel robot has been widely used in industrial production because of its large stiffness,strong bearing capacity,weak coupling motion and good movement performance.Under the premise of ensuring the rapidity and accuracy of DELTA robot,this subject aims to design a reasonable robot working path and control method.First of all,the mechanical structure and working principle of DELTA robot are analyzed.The structure of the DELTA robot is simplified,and the positive and inverse model of the robot is obtained by geometric principle.The correctness of the model is verified by MATLAB.Combined with Jacobi's matrix,Shape,and then get the method condition to avoid the appearance of the bit shape.Then,the force situation of DELTA robot in motion is analyzed,and the robot's mass model is equivalent to the form of two-end particle.Secondly,under the premise of avoiding singularity,the actual working requirement of DELTA robot is taken into account,the geometric relation between robot's reachable space and working space is analyzed,and finally the working space which satisfies the working requirements is obtained.Study on dynamics model of DELTA robot,determine the optimization objectives and constraints,and optimize structural parameters by MATLAB.Then,considering that DELTA robot can withstand the strong impact caused by the unreasonable working path,a Sinusoidal function is introduced into the working path of the robot to set the velocity curve and obtain a working path that makes the motor work well.Finally,the design method of LQR state feedback controller based on servo compensation is studied.The servo compensator is designed to eliminate the steady-state error caused by external signals and ensure the steady state performance of the system.By means of the regional pole configuration,the closed-loop pole of the system is controlled at In a certain range,the dynamic performance of the system is optimized.The linear quadratic performance index is established and the control parameters are obtained by solving the linear matrix inequality.Aiming at the designed controller,the path tracing and torque output are simulated by MATLAB.