摘要：This study examines the pose control of the 4-RPU redundant parallel mechanism of a hybrid condenser cleaning robot in response to the poor control accuracy of current cleaning robots. The kinematics of the 4-RPU mechanism is analysed, and its dynamics model is constructed using the virtual work principle. The theoretical calculation and virtual prototype simulation of the constructed model are conducted in MATLAB and ADAMS, which yield basically consistent results, demonstrating the precision of the model. Based on this model, an adaptive sliding mode control method is proposed that can estimate and compensate for parameter uncertainties and load perturbations simultaneously. The system stability is analysed using Lyapunov functions. The results suggest that the adaptive sliding mode control method can significantly reduce the average tracking error of each degree of freedom of the moving platform and exhibits higher control stability and convergence accuracy than the conventional sliding mode control algorithm. This study provides a reference and research basis for attitude control of the cleaning robots affected by uncertainties such as water backlash during operation.
