Development Of Working Condition Monitoring System Of Parallel Craving Robot

The researching object of this paper is the parallel robot with six-degree of freedom. Firstly, the structure of the robot, the current and future developing condition of six-degree of freedom platform and the present developing and using condition of Chinese character carving in a parallel mechanism are introduced. And then, a whole hardware system of the parallel carving robot has been developed.In this process, the problems of relatively smaller bearing limit and larger spatial interference have been overcome. A principal axis cutter system based on moving platform of parallel robot has been developed, which not only can fulfill the functions of prompt shift of cutters and coaxial measuring dynamic torque of cutters, but also can efficiently avoid signal interference of other carving force measuring processes.For the purpose of kinetics researching, a working platform with multi-sensor has been designed for real-time acquisition of three dimensions carving force, which solved the problem of fluctuation of carving objects. An electricity controlling box is designed to keep safety and efficient control.Because of the self-restriction of mechanics system, signal coupling is necessary being in the process of acquisition of force/ torque. In this paper, the reasons, phenomenon and influence of signal coupling are studied based on the mechanics of overall space force/ torque acquisition. And a decoupling algorithm which based on the analysis to constitutive relation of sensors has been gained by using method of finite element analysis. With good dicoupling effect and simple calculation procedure, this dicoupling algorithm can simultaneously be handled by a computer, which can successfully support feedback control.In respect of the improvement of controlling software, lots of man-machine insurance functions which are bonded with the processes of force/ torque acquisition, real-time mapping and the feedback control based on carving force are enhanced.Finally, some possible improvements of software and hardware which will be the writer's future researching direction are introduced.