6dof串并联机器人的动力学及控制分析 word格式.docx

推导电液伺服驱动系统的动力学模型，即分别求取电磁伺服阀、单级电液伺服阀、阀控液压缸动力机构、负载活塞受力模型的数学模型等，最终获得三阶开环传递函数的数学模型。采用PID校正和变结构鲁棒自适应控制对电液伺服驱动系统进行伺服控制，此系统具有良好的快速性和鲁棒性。前面各专题采取的技术路线为基于纯理论数学推导，以Matlab/Simulink数值仿真为辅助，最终得出描述性能曲线。关键词：运动学分析，动力学分析，计算力矩控制，鲁棒控制，变结构控制，变结构鲁棒自适应控制Series-parallel6-DOFRobotDynamicsandControlResearchABSTRACTAtpresent,theresearchonthe6-DOFparallelrobothasbecomeahotarea.However,thevastmajorityof6-DOFparallelrobotconfigurationsarederivedfromtheStewartinstitution,rareinotherconfigurationsofparallelrobots,orseries-parallelrobots.Inthispaper,thestudyof6-DOFseries-parallelrobotismainlyusedinheavy-dutyforgingsautomatedproductionarea.Thisbodynotonlyhasthecharacteristicsofhighpreciseoutput,institutionalrigidity,strongloadcapacity,butalsohascapabilityofalargeworkingspace.Inthispaper,thekeyresearchon6-DOFseries-parallelrobotincludedfivetopics:kinematicsanalysis,dynamicsanalysis,controlsystemdesignbasedonthedynamics,electro-hydrauliccontrolsystemdesignandelectro-hydraulicpositonservecontrol.Kinematicsanalysisofthe6-DOFSeries-Parallelrobothasadvantagesanddifficultiesofbothparallelrobotsandserialrobots,anewapproachisusedtosolveinversepositoninthispaper,thatissuccessivesearchmethod.Velocityandaccelerationareanalysisedwithfristandsecond-ordereffectcoefficientmatrix.Atlast,eachjointtrajectoryisplanedinjointspace.KineticequationwasderivedbasedonKANEdynamicstheory,andthebasicequationsofthekineticcoefficientswereanalyzed.Meanwhile,therobotdynamicstatewassimulatedwithMatlabsoftware.Simulationcurvewasanalyzed,dynamicperformancewasevaluated,andthejointtrajectorywasupdated.Thevariouscontrolwayshavecharacteristicincontrollingtheprecision,speedandstabilityoftheirowncharacteristics,controlcostsandachievethedegreeofdifficultyvarybasedonkineticequation.Threemethodsthatarecomputedtorquemethod,robustcontrolandvariablestructureslidingmodecontrolwereusedintheprecisecontroloftheseries-parallel6-DOFrobot.ThesemethodswerecomparedwiththeSimulinksimulationexampleinapplicationconditions.Dynamicmodelofelectro-hydraulicservod