Dissertation > Excellent graduate degree dissertation topics show

Motion Simulation and Control System Design of 3-PRRU Parallel Manipulator

Author: ZhangTieNiu
Tutor: LiQinChuan
School: Zhejiang University of Technology
Course: Mechanical Design and Theory
Keywords: parallel manipulator simulation virtual instrumentation control system motion control
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 151
Quote: 0
Read: Download Dissertation

Abstract


This thesis focuses on the 3-PRRU parallel manipulator. Design and control plan for parallel manipulator based on virtual prototyping and virtual instrument are proposed. Mechatronics simulation is studied based on kinematics analysis and virtual prototyping. Machine control system is designed and built based on NI motion controller, and experiments are performed to verify the correctness and feasibility of the theory and platform. The main works of the research are as follows.DOF of 3-PRRU parallel manipulator is analyzed by employing screw theory. Kinematic model is established, the inverse and forward position analyses are proceeded; equation which describe the relationship between the end of tool and center of moving platform is formulated.Virtual prototype of 3-PRRU parallel manipulator is established by SolidWorks, and trajectory planning and simulation of mechanism are performed by COSMOSMotion which verified the validity of inverse position. Mechatronics simulation is preformed by LabVIEW, SolidWorks and COSMOSMotion integrated together which achieved the parameters control of movement. Its program code can also be transplanted to control system of the physical prototype which shorten the development time.Control system is designed based on PC and NI motion controller, and interfaces between motion controller and servo drives are designed according to the desired function, which provide the foundation for design of open control system.The software platform which core control functions include HOME, JOG, AUTORUN, etc is developed based on LabVIEW and NI motion control module. Programming techniques are employed to enhance the human-computer interacting and information sharing.Through the debug and test on experiment platform verify the feasibility of core functions. During test, machine running smoothly, good controllability and low noise and vibration, basically reach the desired goal.

Related Dissertations

  1. The Setting Bases of Working Pressure in LNG Systems and Orthogonal Experiment Design of Heat Exchangers,TQ051.5
  2. Study on Springback of High-Strength Steel Stamping,TG386
  3. Numerical Simulation and Experiment on Hydroforming of Cups with Controllable Radial Pressure,TG386
  4. Research on Technology and Mechanism of Joining Cemented Carbide to Carbon Steel,TG454
  5. Design and Fault Diagnosis of the Coarse Pointing Control System in Satellite Laser Communication,V443.1
  6. Satellite Attitude Determination Based on Gyro and Star Sensor,V448.2
  7. Numerical Simulation of Film Cooling in Turbine Cascade with Non-Axisymmetric Endwall Method,V231.3
  8. High Speed Aerodynamic Convection and Coupled Heat Transfer of Complicated Bodies,V215.4
  9. The Analysis on Characteris of Vibration Source about Vertical Vibration of Surrounding Environment Induced by Rail Transit,U211.3
  10. Study of Automobile Ignition Coil Testing System Based on Standard LAH032.905,U472.9
  11. The Inductive Load Based Vehicle Body Network Control System,U463.6
  12. Single Neuron PID Control for Electro-Hydraulic Servo Unit of Ship Rudder,U666.152
  13. Study on the Heat Transfer Characteristics of Particle Cluster in Circulating Fluidized Bed,TK124
  14. Numerical Simulation of Biomass Direct Reburning,TK16
  15. Numerical Simulation on Pulverized Coal Combustion Process in a 670T/H Tangential Firing Furnace,TK224.11
  16. Numerical Simulation on the Combustion Process in the Furnace of a 1000MW Lignite-Fired USC Boiler,TK224.11
  17. Study on Gas-Solid Two-Phase Flow in Spouted Beds,TK173
  18. Experimental Study and Numerical Simulation on Aerodynamic Field of Tangential Bias Swirl Burner,TK223.23
  19. Characteristic Study of Combustion in Central Reverse Flame Chamber,TK223.21
  20. Numerical Simulation and Contrastive Analysis of Labyrinth Seals and Leaf Seals,TK263.2
  21. Several Key Issues on Closed-Loop Control for Precision Laser Tracking Device,TN249

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile