Design On Control System Of Parallel Robot Based On PCC

In the actual industrial production,in many cases there will be a large number of parts need to be handled,if the use of manual completion of this repeated handling,will cause human fatigue and efficiency and accuracy is not high,and parallel robot because of its speed,accuracy and stability,Very suitable for this kind of workplace.Based on the parallel robot provided by B & R,the kinematics analysis,dynamic analysis,the working space are set,the linear motion trajectory is planned,and the torque controller with PD compensation is designed.In this paper,the driver program of the servo motor and the stepping motor is prepared.According to the result of the mechanical system analysis,the program of the movement between the robot points is written.The robot path control program is written according to the design of the host computer.HTML5 and MATLAB prepared with the host computer program,HTML5 program for robot motion control and real-time monitoring,MATLAB program used to generate the path.The research of this topic improves the running speed of the B & R parallel robot and increases the curve motion function,which can provide reference for the control of the parallel robot using the B & R system.After the test,the parallel robot is running well and the precision is high.The maximum running speed is determined by setting the maximum running speed and the acceleration limit.When the path is all straight,the maximum running speed is up to 40 cm / s,The calculated position deviation is less than 2mm.When the path has a straight line and curve drawing operation,the maximum running speed can reach 10 cm / s.The position deviation calculated by the encoder feedback is affected by the radius.When the radius is 10 cm,the position deviation is not To 2mm.