Design And Analysis Of Modular Solar Wing Docking Attitude Adjustment Equipment And Cooperative Control Research

Compared with the existing solar wing docking attitude adjustment equipment,the modular docking attitude adjustment equipment can improve the efficiency of assembly docking and improve the effective utilization rate of docking equipment.In this paper,a wheeled mobile robot module and parallel docking attitude adjustment equipment are taken as the research object,and the structural design and optimization,kinematic analysis and control strategy are studied in depth.The accuracy measurement is carried out and the error source is analyzed through the experimental prototype built.In addition,the cooperative control problem of hinge point assembly on attitude adjusting platform of multi-wheel robot system is discussed.The main research contents of this paper are as follows:(1)A ground closed modular docking attitude adjustment device based on 4-SPE mechanism is designed.The branch PE pair is designed as wheeled mobile robot module.The finite element model is established to carry out topology optimization aiming at the lightweight structure and verify the reliability of the branch module structure under heavy load.(2)Integrated module reorganization into a scheme for docking attitude adjustment equipment,solving and verifying the forward and inverse kinematics,analyzing the change trend of attitude space under different attitude adjustment platforms,and analyzing the concrete quantified working space and attitude space,verifying the actual reachability of posture space based on MCD simulation,analyzing the multi-motor synchronization control problem based on active disturbance rejection control method and verifying the superiority of the control method.Redundant drivers are distributed based on hybrid control strategy of force and position.(3)Aiming at the control problem of hinge point assembly of the attitude adjustment platform of branch modules,kinematics,dynamics models and system kinematics models of wheeled mobile robots are established.The communication topology network of multirobot systems is constructed based on graph theory knowledge.A cooperative control algorithm based on the position and velocity information of adjacent branches is proposed and the stability of the control system is analyzed.Verify the effectiveness and stability of the collaborative control algorithm based on MATLAB.(4)Build the experimental prototype of wheeled mobile robot and its combined attitude adjustment equipment,deploy the embedded platform on the experimental prototype,develop the control system,realize the omni-directional movement of the module and the attitude adjustment task of docking the attitude adjustment equipment,carry out the walking and lifting accuracy measurement experiment of wheeled mobile robot and the attitude adjustment accuracy measurement experiment of the prototype,and analyze the main error sources.The research content of this paper has important guiding significance for the design,analysis and optimization of modular docking attitude adjustment equipment,multiredundant drive control of parallel mechanism and practical application of multi-module in parallel docking tooling.