DESIGN AND ANALYSIS OF PLANAR FIVE BAR PARALLEL MANIPULATOR FOR EDUCATIONAL APPLICATION
一种应用于教学实验的平面五杆并联机构的设计与分析
ABSTRACT
摘 要
ACKNOWLEDGEMENTS
CONTENTS
LIST OF TABLES
LIST OF FIGURES
INTRODUCTION
1.1 Background
1.2 The research in the field
1.3 Basic description and motivation
1.4 The main research work
KINEMATIC ANALYSIS
2.1 Jacobin matrix
2.2 Workspace and inverse kinematic
2.3 Singularity analysis
2.4 The other criteria of the design and analysis
2.5 Summary
DYNAMIC ANALYSIS
3.1 Dynamics of open-chain manipulators
3.2 Dynamic of the five bar manipulator
3.3 Summary
HARDWARE DESIGN
4.1 Overall design
4.2 Controller design
4.3 Power supply module design
4.4 Serial communication circuit design
4.5 Control circuit for motors
4.6 Velocity signal processing circuit for the tachometer
4.7 Additional circuit
4.7.1 A/D filter circuit
4.7.2 A/D reference voltage supply circuit
4.7.3 Optocoupler protecting circuit
4.8 Summary
SOFTWARE DESIGN
5.1 Software design of main controller
5.2 Software design of slave controller
5.3 Motor controller design
5.3.1 The PWM generator and QEI
5.3.2 The PID controller
5.4 Summary
SIMULATION OF THE CONTROL STRATEGY
6.1 PD control strategy
6.2 Augmented PD control strategy
6.3 Computed torque method
6.4 Simulation of the three control algorithm
6.4.1 Simulation result of the PD control
6.4.2 Simulation of the augmented PD control
6.4.3 Simulation of the computed torque method
6.5 Summary
CONCLUSIONS AND FUTURE WORK
7.1 Conclusions
7.2 Future work
REFERENCES
攻读学位期间发表的学术论文
哈尔滨工业大学硕士学位论文原创性声明
哈尔滨工业大学硕士学位论文使用授权书
哈尔滨工业大学硕士学位涉密论文管理
