A Control System Designed For 3P-6SS Parallel Mechanism Based On TMS320LF2407A

A typical 3P-6SS parallel mechanism is presented in this paper, it is composed of three prismatics fixed on a plane symmetrically,and its inverse kinemics solution is achieved. We produced one machine based on the theory of this 3P-6SS mechanism, and designed its control system, so some experiment based on the machine can be carried out to sample the data and analyze the 3P-6SS parallel mechanism system. And these experiments and the sampled data well proved the result emulated on computer, so it proves the inverse kinemics solution is right and the control system is effective as well.With the development of DSP technology and its advantages in signal process, DSP becomes the first choice of MCU chip in motor control domain inevitably now, its powerful Event Management function is very useful for system control. In this paper we designed one control system to control four motors, three PAN ASONIC AC Servos with the type of Minas A4 and one brush DC motor, and multi-kinds of sensor's signal processing circuits are designed. I designed the driver for the chip of TMS320LF2407A, and developed the control software based on the driver. The control software can communicate with PC and can control the four motors precisely and move separately, and can control the machine to draw out characters freely. I did some experiment upon the system and analyzed the tolerance of the machine with the theoretical system.