Precision Balance Control of Agricultural Transport Platform Using 3-PRS Parallel Mechanism = Precision Balance Control of Agricultural Transport Platform Using 3-PRS Parallel Mechanism

다국어 초록 (Multilingual Abstract)

To alleviate the workload of farmers, transport robot platforms have been deployed in the agricultural field. However, when traversing inclined or bumpy terrains, existing robot transport platforms struggle to maintain the stability of the transported goods. To tackle this challenge, we introduced a balance control system based on a 3-PRS parallel mechanism aimed at ensuring cargo stability. We utilized ADAMS and Matlab Simulink for joint simulation. Through ADAMS, we established the kinematic model of the 3-PRS parallel mechanism and input parameters such as the current angle and height of the platform into Matlab Simulink. After computing the kinematic inverse solution of the 3-PRS parallel mechanism, we employed PID control to ensure precise control, successfully simulating the maintenance of balance by the 3-PRS parallel stabilized platform during motion. To validate our approach, we installed an IMU on the actual robot platform to collect the current platform angle, utilized ROS for data communication, and realized the balance control system in reality. Our system achieved a maximum control angle of 12° on both the x and y axes, with a balance error of 0.08°. This indicates that our system can maintain balance on terrains with a slope not exceeding 12°, keeping the balance error within 0.08°, and achieving full balance within 1.1 seconds. Overall, our research presents a robust agricultural robot transport platform capable of maintaining cargo stability on inclined and bumpy terrains, significantly reducing the burden on farmers while greatly enhancing the reliability of agricultural transportation.