The Control of Hexapod Parallel Mechanism

Abstract:

In order to enhance the innervations fidelity of simulators, an adaptive nonlinear controller is developed, which guarantees parallel mechanisms closed loop system global asymptotical stability and the convergence of posture tracking error in Cartesian space. The problem of rapid tracking under the condition of the wide range, nonlinear and variable load is solved. After the adaptive nonlinear controller is actually applied to the hexapod parallel mechanisms of simulator, the dynamic-static capabilities of motion system is tested by amplitude-frequency response and posture precision. The experimental results show that the static precision improves ten times and system output amplitude increase and the phase lag reduce with respect to the same input signal in Cartesian space in comparison with the traditional proportional and derivative controlling method in joint space. Therefore the adaptive nonlinear controller can effectively improve the dynamic-static response performance of the hexapod parallel mechanisms of simulators in Cartesian space.

• Periodical: Applied Mechanics and Materials (Volumes 195-196)
• Pages: 1030-1034
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.195-196.1030
• Online since: August 2012
• Authors: Chun Ping Pan, Hsin Guan
• Keywords: Adaptive Nonlinear Control, Driving Simulator, Dynamics Model, Hexapod Parallel Mechanism, Innervation’s Fidelity

References

[1] Wu Jun, LiTiemin, Guan Liwen. Computed torque control for a moving flight simulator platform,. Journal of Tsinghua University, vol. 46, no. 8, pp.1405-1408/1413, Agu. 2006. [In Chinese].

[2] HeJingfeng, Xie Wenjian HanJunwei. Output Decoupling Control of 6DOF Parallel Manipulator,. Journal of Harbin Institute of technology. vol. 38, no. 3, pp.395-398. Mar. 2006. [In Chinese].

[3] Huang Chin-fu, Adaptive back-stepping tracking control of the Stewart platform,. Proceedings of the IEEE Conference on Decision and Control, vol. 5, pp.5228-5233, 2004[2004 43rd IEEE Conference on Decision and Control (CDC)].

DOI: 10.1109/cdc.2004.1429638

[4] Ghobakhloo A. EGHTESAD, M.; AZADI, M. Position control of a Stewart-Gough platform using inverse dynamics method with full dynamics International Workshop on Advanced Motion Control, 9th IEEE International Workshop on Advanced Motion Control, vol. 2006, pp.50-55. Jan. (2006).

DOI: 10.1109/amc.2006.1631631

[5] Geike Thomas, Mcphee John. Inverse dynamic analysis of parallel manipulators with full mobility, Mechanism and Machine Theory, vol. 38, no. 6, pp.549-562. June, (2003).

DOI: 10.1016/s0094-114x(03)00008-9

[6] Feng Zhiyou, LiYonggang, ZhangCe et al. Present State and Perspectives of Research on Kinematics and Dynamics of Parallel Manipulator, Chinese Journal of Mechanical Engineering. vol. 17, no. 9, pp.979-984. May 2006 [In Chinese].

[7] He Jingfeng Ye Zhengmao Jiang Hongzho et al. Coupling Analysis Based on Joint-Space Model of Parallel Robot, Chinese Journal of Mechanical Engineering. vol. 42, no. 6, pp.161-165. June 2006, [In Chinese].

DOI: 10.3901/jme.2006.06.161

[8] YiuYk, ChengH, XiongZH Dynamics of Parallel Manipulators,. The IEEE International Conference on Robotics and Automation, Seoul, Korea, vol. 12, pp.270-275. Feb (2005).