Design Of Active Swing Reduction Based On 6-DOF Parallel Robot

The active sway reduction system uses electromechanical means to control the active movement of the moving platform against external disturbances,reduce the swing of the moving platform,and enhance the stability of the platform.It has important value in scientific research,special cargo transportation and other fields.A typical active anti-sway system is usually realized by a three-degree-of-freedom pant or a multi-joint manipulator.The former can only suppress the disturbance of the attitude angle from the outside world,while the latter has the disadvantage of low bearing capacity,which makes it difficult to realize the initiative for large and heavy-duty equipment.Reduce the swing.The 6-DOF parallel robot has six degrees of freedom,can control position and posture at the same time,and has the advantages of large load capacity,fast dynamic response,and no cumulative error.It has been widely used in many engineering applications.These advantages of the 6-DOF parallel robot also make it very suitable for use in active swing reduction systems.Therefore,the thesis studies the design of the active swing reduction system based on the 6-DOF parallel robot,and conducts an in-depth study on a series of related issues of the system design.Firstly,the kinematics control algorithm of the 6-DOF parallel robot is introduced.On this basis,the relationship between the mechanical structure parameters of the parallel robot and the motion space is studied,and the motion space optimization algorithm is designed,so as not to violate the mechanical structure constraints.To maximize the use of sports space.Based on the above research results,a 6-DOF parallel robot motion space search and optimization program is designed to provide effective guidance for the design of the mechanical structure parameters of the parallel robot.This paper further studies the error calibration algorithm of the 6-DOF parallel robot,which is used to identify the errors in the robot's production and processing,and correct them in the actual control to improve the accuracy of motion control,thereby improving the performance of sway control.The paper summarized the sources of errors of parallel robots,and proposed error identification methods based on forward kinematics and inverse kinematics.On this basis,the robot error calibration program was designed,and through numerical simulation experiments,the effect of mechanical errors on robot motion control was studied.The influence of the error calibration and the calculation accuracy of the identification verifies the improvement of the robot motion control accuracy by the error calibration.This article studies the single degree of freedom active sway reduction.Since the six degrees of freedom are independent of each other,start with one degree of freedom.First,test the reliability under different conditions in the simulation environment,and then use the single degree of freedom to actively reduce the swing.Lastly,the ability to suppress disturbances was tested;finally,a model of the parallel robot was built in a simulation environment to verify the reliability of the parallel robot's active sway reduction algorithm,and then further tests were performed on the parallel robot to verify the performance of the active sway reduction algorithm.