Analysis and Control of 6-DOF Electrical Driven Parallel Manipulator
|Harbin Institute of Technology
|Mechanical and Electronic Engineering
|6-DOF parallel manipulator Integrated dynamic model PMSM Multi-body dynamics Derivative movement
Because of the advantages such as high stiffness, high dynamic performance, and low-position control error, the six Degree-of-Freedom (dof) Parallel manipulator was widely applied in the fields of motion simulation, robot manipulator, micro mechanism, parallel machine tool, etc. The mechanism can be driven electrically or hydraulically. Currently, hydraulic-driven mechanism is widely used in the high-power system; but there is a trend that it will be replaced by the motor-driven mechanism in the low-power system.Though the six-dof parallel manipulator was widely used, the literatures mainly focus on the kinematics and dynamics. However, the research works on the high-performance permanent magnet synchronous motor (PMSM) driven system was far from enough.The paper analyzes the PMSM driven system by details. Firstly, analyze the kinematics and multi-body dynamics,especially quantify and compensate the derivative movements of electrical 6-U (RP)-U Parallel manipulator ; Then, build the PMSM Servo System Model in the dq coordinate; finally, build the actual integrated dynamic model of parallel manipulator through two approaches and analyze the dynamic characteristics of the system.Since no literatures on the analysis of the derivative movement is available, ADAMS is applied to verify it, and to ensure that the work can be directly applied to practice, and thus enhance the position accuracy of parallel manipulator; The PMSM control system model mentioned in Chapter IV is established according to the relationship of the actual physical variables. In order to guarantee the correctness, PMSM model which is based on SVPWM is applied to verify its input-output properties. In the fifth chapter, the establishment of precise integrated dynamic model of electric parallel manipulator is introduced, which solved the difficulty of the equivalent inertia calculation of each motor induced by the load, and thus provided a solution to the building of precise integrated dynamic model of the electric parallel manipulator.Finally, the paper makes a dynamic analysis against the specific parameters in the actual system, which indicates that the parallel manipulator has good dynamic performance and position control accuracy.