Redundant Coordination Strategies For Wheeled Parallel Pose-tuned Robots And Control Parameter Research

In the assembly process of aerospace products,it often involves the precise docking of multiple large components,and the precise docking of each component through movable alignment equipment can not only ensure the assembly accuracy of the product,but also greatly improve the work efficiency.Therefore,the study of omnidirectional allarea parallel alignment equipment has become the development trend in the field of aerospace manufacturing.In this paper,we take the wheeled parallel attitude robot as the research object,and study the control system,redundant control strategy,pelican optimization algorithm to adjust motor PI parameters,and experimental aspects respectively.The main contents of the research in this paper are as follows.(1)Analysis of mechanical structure and control system of wheeled parallel postureadjusting robot.Based on the spiral theory,the robot degrees of freedom are analyzed,and the positional positive and negative solutions of the kinematics are solved based on the vector method to analyze its attitude space.Design the control system based on the structure itself and control requirements,and develop the motion control strategy.(2)Research on the redundant drive control strategy of wheeled parallel pose adjustment robot.Based on the principle of virtual work for rigid body dynamics modeling,based on the spiral theory,the drive distribution model is determined;the objective function for optimizing energy consumption and attitude adjustment accuracy is established;under different target attitudes,a more reasonable drive distribution is proposed through simulation calculation.(3)Research on off-line self-tuning of PI parameters of wheeled parallel postureadjusting robot servo motor.The improved Pelican optimization algorithm is proposed,and the performance of the algorithm is tested;the vector control strategy of the permanent magnet synchronous motor is determined and the optimization index is established;the simulation model of off-line adjustment of PMSM parameters is built based on Matlab/Simulink,and the simulation results are analyzed to prove the effectiveness of the proposed improved Pelican optimization algorithm.(4)Virtual simulation and experimental study of wheeled parallel posture-adjusting robot.Based on NX MCD and Matlab/Simulink,the virtual simulation is established through OPC communication protocol,and the experimental study of both moving and adjusting posture is carried out.The data of laser tracker and inclinometer are fused,and the graphical visualization of the experimental results is analyzed,and the results show that the accuracy of moving and adjusting posture meet the requirements of working conditions,which proves the feasibility of the proposed strategy;the sources of experimental errors are analyzed.