Kinematic Analysis and Speed Control of 3SPS-1S Parallel Mechanism for End Actuator of Segment Erector

摘要

In this paper, the 3SPS-1S parallel mechanism is applied under the consideration of the large load and high positioning accuracy of the end actuator of the segment erector. And a complete set of speed control solutions for the end actuators of the segment erector is proposed. The scheme proposes the iterative positive solution of the mechanism by using Newton iteration method, and controls the speed by designing the fuzzy PID controller. By solving the inverse solution of the mechanism, expressions of the rotation angles and the lengths of the legs are obtained. And then the iterative equation is constructed for the positive solution. The convergence of the solution is demonstrate with three set of examples, and all of the relative errors are less than 0.1%. A fuzzy PID controller is designed for the controlled object with parameter uncertainties. The effectiveness is verified by simulation.