Development Of Compliant Wrist Synthetical Performance Test-bed

As a part of the project ″compliant wrist″, this dissertation aims at building the CNC of synthetical performance test-bed for compliant wrist. Based on the technology of Numerical Control,Robot Control and soft engineering, this paper deals with methodology of building Open Architecture Numerical Control System,multitasking,Object Oriented Programming,force sensing and force control. The following work has been completed. Firstly, according to the analysis of the performance of compliant wrist and the structure of test-bed, the hardware of CNC is designed. With the idea of building a double CPU CNC, this paper adopts the "PC + adapter" structure which uses DMC (Digital Motion Controller) and IPC as the support unit of system.In the software design of CNC, some new methods have been adopted to assure the precision and stability of system, such as OOP,Multimedia Timer and Multithread. All the modules include the system management,interface,program compiling and force sensing & control are developed with the aid of Visual C++6.0 language. The force sensing system which is comprised of sensors,A/D and IPC is built up. Having analyzed the relationship between force control and position control, the staggered linear decelerate arithmetic is presented to treat with the system decelerate process. With the goal of controlling the force in decelerate process, an implicit hybrid force/position control scheme is proposed in this paper.As the critical equipment of compliant wrist's industrialization, this research has been successfully applied to the performance test for complex structure compliant wrist.