Synthesis of optimal control force for tripod manipulator drives

Abstract

A tripod-based parallel structure manipulator is considered in the article. The movement of the working body from a known position to a given final position is realized by changing the lengths of the tripod end points. Linear links with an electric DC drive are used as end points. The algorithm was developed for the synthesis of the electric motor control voltages when moving the parallel structure manipulator working body based on the tripod from the initial position to the specified final position of the fixed travel time from the minimum criterion characterizing heating of the electric motor. The mathematical model of the manipulator controlled movements is described by linear differential equations of the second order. The static characteristic of the motor is used. The resistance force is taken proportional to the working body movement speed. The problem is solved by the methods of classical calculus of variations. The results of numerical modeling are presented, confirming the effectiveness of the proposed algorithm for determining the working body movement optimal laws.