文章基本信息

标题：Dynamic Simulation of Hybrid-driven Planar Five-bar Parallel Mechanism Based on SimMechanics and Tracking Control
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作者：Bin Zi ; Jianbin Cao ; Zhencai Zhu 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2011
卷号：8
DOI：10.5772/45683
语种：English
出版社：SAGE Publications
摘要：This paper investigates dynamic simulation and trajectory tracking control of hybrid-driven planar five-bar parallel mechanism (HPPM). To begin with, a simulation model of dynamics based on MATLAB/SimMechanics is established. Then, traditional PD control and closed loop PD-type iterative learning control of the HPPM are designed. At the end, the simulation based on SimMechanics is carried out, which acquires angular, angular velocity, angular acceleration of two driving links and constraint reaction of kinematic pairs at any time. In addition, the performance of the closed loop PD-type iterative learning control is compared with that of the traditional PD controller through simulations of the HPPM in the presence of the model external disturbances. The simulation results indicate that a perfect trajectory tracking of end-effector of the HPPM is achieved by the closed loop PD-type iterative learning controller.
关键词：Hybrid-driven Planar Five-bar Parallel Mechanism; SimMechanics; Dynamic Simulation; Iterative Learning Control