The application of 3-RRR planar parallel mechanism in engineering field is seriously restricted by the motion precision problem. In order to enhance mechanism motion precision in effect, a fuzzy-PID control system of 3-RRR planar parallel mechanism is established. The experimental control device is set up. And the virtual instrument software of fuzzy-PID real time control system is developed based on LabVIEW. And real time control of mechanism's motion error is studied experimentally. Experimental results show that the motion error of the system can be controlled in real time. It features in arithmetic simplicity and high precision. The developed virtual instrument software not only has a friendly and easy operation interface, but also has high flexibility, scalability, and intelligence.
LIU Xia, SHAN Ning, WANG Qing, WU Xinwei
. Design of Fuzzy-PID Control Virtual Instrument for 3-RRR Planar Parallel Mechanism[J]. Journal of Applied Sciences, 2019
, 37(4)
: 565
-572
.
DOI: 10.3969/j.issn.0255-8297.2019.04.013
[1] 于红英,曾重元,郭震. 少自由度变胞并联机构综合设计方法[J]. 哈尔滨工业大学学报, 2018, 50(1):42-49. Yu H Y, Zhang Z Y, Guo Z. Type synthesis method of lower-mobility metamorphic parallel mechanism[J]. Journal of Harbin Institute of Technology, 2018, 50(1):42-49. (in Chinese)
[2] Qu H, Guo S. Topology and mobility variations of novel redundant reconfigurable parallel mechanism[M]. Chan:Springer International Publishing, 2016:223-233.
[3] Hu J P, Yan X Y, Ma J, Qi C H, Kumi F, Mao H P. Dimensional synthesis and kinematics simulation of a high-speed plug seeding transplanting robot[J]. Computers & Electronics in Agriculture, 2014, 107(3):64-72.
[4] Mousavi M A, Masouleh M T, Karimi A. On the maximal singularity free ellipse of planar 3-RPR parallel mechanisms via convex optimization[J]. Robotics and Computer-Integrated Manufacturing, 2014, 30(2):218-227.
[5] 张东胜,许允斗,侯照伟,姚建涛,赵永生. 五自由度混联机器人优化设计与运动学分析[J]. 农业工程学报,2016, 32(24):69-76. Zhang D S, Xu Y D, Hou Z W, Yao J T, Zhao Y S. Optimal design and kinematics analysis of 5-DOF hybrid serial-parallel manipulator[J]. Transactions of the Chinese Society of Agricultural Engineering, 2016, 32(24):69-76. (in Chinese)
[6] 刘霞,单宁. 3-RRR平面并联机构模糊PID控制系统研究[J]. 机械科学与技术,2018, 37(6):854-858.Liu X, Shan N. Research of fuzzy-PID control system for 3-RRR planar parallel mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(6):854-858. (in Chinese)
[7] 赵磊,梁超,张德福,东立剑,彭海峰. 基于3-RRR结构的光学元件柔顺微动调整机构的位姿正解[J]. 光学精密工程,2016, 24(6):1373-1381. Zhao L, Liang C, Zhang D F, Dong L J, Peng H F. Forward kinematics of 3-RRR flexure parallel mechanism used in lens micro-adjustment[J]. Optics and Precision Engineering, 2016, 24(6):1373-1381. (in Chinese)
[8] 秦绍辉,胥光申,沈丹峰,巨孔亮,陈振,赵刚. 基于LabVIEW的喷气织机综合性能测试系统[J]. 西安工程大学学报,2016, 30(1):107-111. Qin S H, Xu G S, Shen D F, Ju K L, Chen Z, Zhao G. Comprehensive performance test system of air-jet loom based on LabVIEW[J]. Journal of Xi'an Polytechnic University, 2016, 30(1):107-111. (in Chinese)
[9] 董祥见,陆洋. 基于LabVIEW的电控旋翼测控系统设计[J]. 南京航空航天大学学报,2017, 49(2):251-257. Dong X J, Lu Y. Design of measurement and control system for electrically controlled rotor based on LabVIEW[J]. Journal of Nanjing University of Aeronautics & Aeronautics, 2017, 49(2):251-257. (in Chinese)
[10] 张津瑞,肖渊,申松,刘金玲,吴姗. 气动式微滴喷射控制系统的设计与实现[J]. 西安工程大学学报,2017, 31(1):95-100. Zhang J R, Xiao Y, Shen S, Liu J L, Wu S. Design and implementation of control system for pneumatic driven micro-droplet jetting generator[J]. Journal of Xi'an Polytechnic University, 2017, 31(1):95-100. (in Chinese)
[11] 刘霞,单宁,王治晶. 非致命激光武器雨雾传输衰减控制虚拟仪器研究[J]. 应用科学学报,2018, 36(3):535-541. Liu X, Shan N, Wang Z J. Research of control virtual instrument on non-lethal laser weapon transmitting and attenuating in the rain and fog[J]. Journal of Applied sciences, 2018, 36(3):535-541. (in Chinese)
