| Aiming at the development of a new type and low cost educational robot for theRobot Laboratory at Beijing Instrument Industry School, a CNC system foreducational serial-parallel structured robot which makes use of the production ofnational "863" High-Tech Development Project and the patent of Tianjin University isintroduced in this paper to meet the requirement of teaching experiment .The mainworks are as follows.The way of path planning and combining the mathematical model of inversekinematic transformation is given. The interpolation algorithm which can control thepath of parallel robot is expatiated in detail. So the theoretical foundation isestablished in the construction for the numerical control system.On the basis of IPC, an Open Architecture Numerical Control System scheme foreducational serial-parallel structured robot is developed. Considering the cost andreliability, the peripheral interfaces is built. The hardware are chosen based on thesystem scheme and are connected together according to the functions of the hardwareWith the idea of OOD(object-oriented design) and modularization, a CNC systemfor educational serial—parallel structured robot is developed, by means of VB6.0programming language.The system has been successfully applied to the samplemachine. Experiment results indicate that the Robot can meet the requirement ofteaching experiment and the anticipatory goal.A kind of language of robot is developed, which thereby makes the experimentalsystem more available. |
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