| 3-PPR并联对位平台运动控制分析与实验研究 |
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| 引用本文： | 黄安贻,张波涛,张弓,侯至丞,王卫军,蔡君义,冯伟,韩彰秀. 3-PPR并联对位平台运动控制分析与实验研究[J]. 组合机床与自动化加工技术, 2019, 0(5): 63-67 |
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| 作者姓名： | 黄安贻 张波涛 张弓 侯至丞 王卫军 蔡君义 冯伟 韩彰秀 |
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| 作者单位： | 武汉理工大学机电工程学院;广州中国科学院先进技术研究所 |
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| 基金项目： | 广东省引进创新创业团队专项(2014ZT05G132);广东省重大专项(2015B010919002);深圳市海外高层次人才资金(KQTD2015033117354154) |
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| 摘 要： | 针对目前高精密行业中对位精度不高的问题,提出一种3-PPR平面并联对位平台的运动控制系统。结合解析法和矢量法,建立了平面并联对位平台运动学正逆解方程,采用MATLAB分析计算了对位平台在不同位姿下的工作空间。设计了一套基于GUS Controller运动控制器的对位控制系统,使用PID方法整定了驱动电机的运动性能,并通过运动学分析及控制系统对其精度进行实验研究。结果表明,平面并联对位平台的重复定位精度可达到1.5μm,驱动精度可达到1μm,在5s定位时间内,其位置误差和偏角误差为±5μm和0.0025°,在10s定位时间内,其位置误差和偏角误差为±3μm和0.0025°,可适用于各种高精密对位场合。
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| 关 键 词： | 视觉 运动学 工作空间 运动控制器 对位精度 |
Analysis of Motion Control of 3-PPR Parallel Alignment Platform and Experimental Research |
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| HUANG An-yi,ZHANG Bo-tao,ZHANG Gong,HOU Zhi-cheng,WANG Wei-jun,CAI Jun-yi,FENG Wei,HAN Zhang-xiu. Analysis of Motion Control of 3-PPR Parallel Alignment Platform and Experimental Research[J]. Modular Machine Tool & Automatic Manufacturing Technique, 2019, 0(5): 63-67 |
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| Authors: | HUANG An-yi ZHANG Bo-tao ZHANG Gong HOU Zhi-cheng WANG Wei-jun CAI Jun-yi FENG Wei HAN Zhang-xiu |
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| Affiliation: | (School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan 430070,China;Guangzhou Institute of Advanced Technology, Chinese Academy of Sciences, Guangzhou 511458,China) |
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| Abstract: | Aiming at the problem of poor alignment accuracy in high-precision industry, a motion control system for 3-PPR planar parallel alignment platform is proposed. Combining the analytical method and the vector method, the forward and inverse equations of the kinematics of the planar parallel aligning platform are established. The working space of the aligning platform in different poses is analyzed by MATLAB. A set of alignment control system based on GUS Controller is designed. The motor performance of the motor is set by PID, and the alignment accuracy of alignment platform is studied by experiment. The experimental results show that the planar parallel alignment platform can achieve a relocation accuracy of 1.5μm and a driving accuracy of 1μm. The position error and angling error are ±5μm and 0.0025° in the 5 second positioning time and ±3μm and 0.0025° in the 10 second positioning time, which is suitable for various high-precision alignment applications. |
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| Keywords: | vision kinematics workspace analysis motion controller alignment accuracy |
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