The Control Complex Robotic System on Parallel Mechanism

Abstract

Problem statement: Parallel mechanisms analysis and design are the main trends of the SEMS. These mechanisms as universal modules are widely used in different industrial measuring, handling, and orienting mechanisms as well as in the biological structural system and crystalline structures simulation. These modules provide the translational motions and represents as 3-DOF mechanisms. SEMS elements of intelligent robotic systems provide the maximum precision of the motion, structural rigidity, and high specific lifting capacity. These systems are similar to space truss. Control of these systems is a major challenge of the design process. Translational parallel mechanisms are well understood. New translational motion mechanism is considered in this paper. The inverse dynamic problem is presented on the basis of virtual displacement principle. Purpose of research: Object of the article is to suggest the control procedure of parallel mechanisms that is universal module of SEMS. Results: Control algorithm is developed. This algorithm is based on the deviation minimization in coordinate, velocity, and acceleration as well as in inverse dynamic problem solution. The problem of dynamic accuracy has been examined. Particularly the influence of mechanism deviations was examined. The control procedure efficiency was checked under offsetting conditions of input and output links masses. The influence of mechanism dimensional deviation on positional accuracy was considered too. The algorithm efficiency has been examined using numerical simulation of mechanism motion on the specified trajectory. Practical significance: SEMS elements with suggested control procedure can be used for the various intelligent robotic systems of different applications (technical and manufacturing systems, transport industry, medical equipment, testing systems).