A Control Method Research of Parallel Mechanisms

摘要：

　　This paper deals with a control method research and trajectory planning of parallel mechanisms.Control system scheme which is based on PC and motion controller has high openness,high degree of modularization and support for non-linear mapping relationship between operating space and joint space of parallel mechanisms with high flexibility and low cost.PC and NI motion controller and LabVIEW constituted hardware core and software platform of control system,respectively.Hardware technology of control system contained hardware selection,control circuit design and interface technology; software technology of control system developed application programs layer,core control layer and drive functions layer to realize core control functions of finding home,single-step or continuous movement and micro adjustment,which was based on hardware principle.Trajectory has been planned for a typical high speed parallel robot.

关键词： Parallel mechanisms Control method Trajectory planning

作者: CHEN Heng NI Yanbing

作者单位: Institution of Mechanical Engineering, Tianjin University, Tianjin, 300072, China

会议类型: 国际会议

会议名称: The First International Workshop on Hydraulic Equipment and Support Systems for Mining (第一届液压技术与矿山装备国际研讨会(IWHEM2012))

会议地点: 辽宁葫芦岛

会议语种:英文

页码: 51-55

在线出版日期: 2012-08-07（万方平台首次上网日期，不代表论文的发表时间）