Research of 2-DOF planar parallel high speed/high accuracy robot

摘要

Reports a novel high-speed/high-accuracy robot: two permanent, linear, DC servomotors drive a 2-DOF planar parallel mechanism to realize high-speed/high-accuracy planar motion. In the design of the planar parallel mechanism, considering the impacted structure and suppressing residual vibration, we separately adopt simulated annealing algorithm and finite element analysis software ANSYS to optimize mechanism's geometrical dimension and section parameter. Test presents that the planar parallel mechanism being optimized includes high stiffness and the robot's settling time is decided by linear motors. At last, in order to reduce influence of nonlinear factors (force ripple, load's disturbance and so on) on the settling time of linear motor's set-point control, the paper proposes a novel fuzzy self-tuning PID controller. Experiments show that linear motor's settling time has been shortened significantly after the novel fuzzy self-tuning PID controller is applied in the system.