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Research Papers

A Control Strategy of a Two Degrees-of-Freedom Heavy Duty Parallel Manipulator

[+] Author and Article Information
Jun Wu

Institute of Manufacturing Engineering,
Department of Mechanical Engineering,
Tsinghua University;
Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control,
Beijing 100084, China
e-mail: jhwu@mail.tsinghua.edu.cn

Dong Wang, Liping Wang

Institute of Manufacturing Engineering,
Department of Mechanical Engineering,
Tsinghua University;
Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control,
Beijing 100084, China

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received May 21, 2014; final manuscript received November 20, 2014; published online January 27, 2015. Assoc. Editor: M. Porfiri.

J. Dyn. Sys., Meas., Control 137(6), 061007 (Jun 01, 2015) (10 pages) Paper No: DS-14-1213; doi: 10.1115/1.4029244 History: Received May 21, 2014; Revised November 20, 2014; Online January 27, 2015

The motion accuracy of a heavy duty parallel manipulator is usually low due to time lag and the difficulty to real-time measure the position of the end-effector. In this paper, a dynamic modeling of this system with consideration of the link flexible deformation is proposed, and a double-feedforward control is presented. The link deformation is considered in the kinematic model. Taking link deformation into account, the dynamic model is derived for real-time application, and the inverse dynamic compensator is designed. The zero phase error tracking controller (ZPETC) is introduced as the second compensator. The system stability is investigated by simulations. The control method is compared with the kinematic-based control without consideration of link deformation. The results show that the maximum contouring error reduces from 7.5mm to 10μm. Thus, the tracking performance is improved when using the method proposed in this paper.

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References

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Figures

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Fig. 1

3D model of the 5DOF hybrid machine tool

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Fig. 2

Kinematic model of the redundant manipulator

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Fig. 3

Free-body diagram of link AiBi

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Fig. 4

Position error of the moving platform caused by link deformation

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Fig. 5

Schematic diagram of control system

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Fig. 6

Principle of dual channel compensation

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Fig. 7

Relationship between contouring error and tracking error

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Fig. 8

Simulation trajectory

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Fig. 9

Kinematic-based control under ideal conditions. (a) x direction tracking error, (b) y direction tracking error, and (c) contouring error.

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Fig. 10

Double-feedforward control under ideal conditions. (a) x direction tracking error, (b) y direction tracking error, and (c) contouring error.

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Fig. 12

Tracking error and contouring error with kinematic-based control. (a) x direction tracking error, (b) y direction tracking error, and (c) contouring error.

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Fig. 13

Tracking error and contouring error with double-feedforward control. (a) x direction tracking error, (b) y direction tracking error, and (c) contouring error.

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Fig. 14

Driving force: (a) without cutting force and (b) with cutting force

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