The Research Of Open-Cnc System Of Parallel Manipulator Based On RTX

With rapid development of computer science and technology, opening and software direction gradually becomes the general trend of the parallel manipulator control system. Based on 6 PUS- UPU parallel manipulator, an open control system built upon RTX + Windows software system is developed. Each function module of control system works by software algorithm, and the control strategy of parallel manipulator are explored. The effectiveness and practicability of this control system and its control strategy are verified by co-simulation and experimental research.Firstly, the overall design of control system based on RTX + Windows operating environment is accomplished by analyzing the open control system, also the entire function module is designed, the speed is smoothed by using trapezoid-curve acceleration and deceleration control algorithm, and the real-time network control module is designed by using RT-TCP/IP agreement. The coordinate transformation and interpolation algorithm are studied particularly to the structural feature of 6 PUS- UPU parallel manipulator.The mathematical model of parallel manipulator servo system is established, and both traditional PID control model and the fuzzy PID control model are established respectively on each branch of the parallel manipulator based on the analysis of the traditional PID control principle and fuzzy control theory. The simulation results of the two control models prove that the fuzzy PID control can improve the control precision of parallel manipulator.Based on Kane method, a dynamic model of parallel manipulator is established and the fuzzy a force/position hybrid control strategy of parallel manipulator is proposed. A redundancy branch force control model based on dynamic model is established, meanwhile the redundant driving force is optimized. The electrical and mechanical joint simulation of parallel manipulator is studied, which proves the force/position hybrid control based on fuzzy PID theory performers better in control precision and adaptability than the traditional PID control.Finally, the whole data process and the implementation algorithm of the open control system are analyzed. The experimental data of the control system based on RTX proves that the open control system based on the fuzzy PID control algorithm improves the control precision of parallel manipulator.