氣壓伺服三軸平行機構機械臂設計與控制之研究

Abstract

本研究旨在設計與實現氣壓伺服三軸平行機構機械臂控制，首先利用solidwork設計氣壓系統三軸平行機構機械臂機台，分別由三個一維運動之氣壓缸，搭配平行連桿，建立運動平台端點三自由度運動，其中三軸運動情形藉由D-H座標轉換進行逆向運動學分析，以求得運動平台端點軌跡運動之三軸軌跡變化情形，利用matlab軟體來模擬設計運動平台端點軌跡之三軸逆運動解。在控制方面，本文使用以函數近似法為基礎之適應性滑動模式控制結合 控制補償之軌跡控制，來克服系統不確定性時變非線性問題，先由matlab軟體進行開迴路及閉迴路系統模擬，驗證控制器之可行性，接著利用watcom C進行即時控制，實現於氣壓伺服三軸平行機構機械臂。實驗證實此控制器對各軸皆可達到良好的軌跡追蹤效果，使得運動平台端點軌跡能達預期目標。

The objective of this thesis is to analyze and actualize a servo pneumatic three-axial parallel mechanism robot. First of all, We design a three-axial parallel mechanism robot of pneumatic system by solidwork which contains three pneumatic cylinders of one dimensional motion and combines with parallel links to develop an end point of three dimensional motion. The motions of three axes with D-H notation is to analyze inverse kinematic analysis and to get the three-axis trajectories of the trajectory of the end point. Using matlab to simulate them. The function approximation technique based on adaptive sliding mode controller with tracking performance is used to solve the uncertain time-varying nonlinear system. It is to simulate an open loop and a closed loop by matlab to implement using the controller, and then it is to realize on three dimensional parallel mechanism of pneumatic servo system. The experiment results show that the controller can achieve excellent tracking performance on each axis, and make an end point have good tracking performance.