Analysis and control for a new reconfigurable parallel mechanism

被引：9

作者：

Huang, Guanyu ^{[1
,2
]}

Zhang, Dan ^{[2
]}

Tang, Hongyan ^{[2
]}

Kong, Lingyu ^{[1
]}

Song, Sumian ^{[1
]}

机构：

[1] Zhejiang Lab, Hangzhou, Peoples R China

[2] York Univ, Lassonde Sch Engn, Dept Mech Engn, 4700 Keele St, Toronto, ON M3J 1P3, Canada

来源：

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2020年 / 17卷 / 05期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Reconfigurable parallel mechanism; dynamic model; adaptive sliding mode control; fuzzy-PID controller; trajectory tracking; MULTIOBJECTIVE OPTIMIZATION; DIMENSIONAL SYNTHESIS; PERFORMANCE ANALYSIS; DYNAMIC-ANALYSIS; DESIGN; MANIPULATOR; KINEMATICS; DRIVEN;

D O I：

10.1177/1729881420931322

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This article proposes a new reconfigurable parallel mechanism using a spatial overconstrained platform. This proposed mechanism can be used as a machine tool. The mobility is analyzed byScrew Theory. The inverse kinematic model is established by applying the closed-loop equation. Next, the dynamic model of the presented mechanism is established by Lagrange formulation. To control the presented mechanism, some controllers have been used. Based on this dynamic model, the fuzzy-proportion integration differentiation (PID) controller is designed to track the trajectory of the end effector. For each limb, a sliding mode controller is applied to track the position and velocity of the slider. Finally, some simulations using ADAMS and MATLAB are proposed to verify the effectiveness and stability of these controllers.

引用

页数：20

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