Dynamic Modeling and Model-Based Force Control of a 3-DOF Translational Parallel Robot

Abstract:

A 3-axis parallel loading mechanism, which works as a multi-axis load simulator, is proposed for reliability test of multi-axis CNC machine tools by exerting specific load spectrums on the spindle. To achieve efficient loading force control, dynamic model of the 3-DOF translational parallel robot is derived via the virtual work principle and is embedded into the control strategy to build a model-based control scheme. A mass distribution factor is introduced and the rotating inertia of the limbs is neglected to simplify the dynamics equations for better real-time control performance. This simplification method is verified by comparison with the complete dynamics model. Then the simplified dynamic model is integrated with a PI (proportional–integral) controller with feedforward to control the moving platform’s output force in the task space and this control strategy is verified through co-simulations with MATLAB/Simulink and ADAMS. Simulation results show that the proposed model-based PI controller is effective to control the three-dimensional output force of the 3-DOF translational parallel robot.

• Periodical: Advanced Materials Research (Volumes 1006-1007)
• Pages: 609-617
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.1006-1007.609
• Online since: August 2014
• Authors: Shu Hua Gao*, Rui Fan, Dan Wang
• Keywords: Inverse Dynamics, Loading Simulator, Model-Based Control, Parallel Robot

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