Development Of 3-RRRT Parallel Manipulator Numerical Control System Based On PMAC

The parallel manipulator is a new type of machine tool developed in the recent years. It has been received wide attention for its advantages, such as high stiffness, strong carrying capacity, low error rate and high precision, thus becomes a new heating field of study and has the potential to become the main force in the field of numerical control in 21th century. Nowadays, the open numerical control system is the main direction of the technique of numerical control, among which the double CPU communication module based on IPC and WINDOWS system is such an open-structured system which is simple, fast and convenient for the development of customization.This dissertation applies the current high-powered servo controller PMAC made by the American Delta Tau Corporation as the main body. Taking the advantage of it, this dissertation establishes a new generation of open numerical control system. As this system makes use of the hardware of advanced technique and high generality, it guarantees the credibility of the system and greatly shortens the development period. Moreover, it is quite accorded with the requirement of the open numerical control system, as the standardization of interface between modules and the open characteristic of PMAC system itself make it possible to conveniently add new hardware and software to enrich the function of this system according to the practice.Closely concerning the need to the research and development of 3-RRRT parallel manipulator, this dissertation mainly works on the following parts: in the first place the hardware structure of the numerical control system of double CPU open parallel manipulator, based on the system of PMAC and IPC, is introduced and then the main thought to develop the open numerical control system software with the PMAC system as the core basis is discussed and the functional modules are classified. Later on, the function of this applied software program is developed with Visual C++, and the main module is introduced in detail in this dissertation. Then follows the PLC program, which is written with the special grammar of PMAC language, is used to realize the function of dot-moving and protection of the security of the system. Finally, the parameters in this system are optimized according to the requirement and the application software is debugged and run, thus meeting the requirement of high speed and precision.It is proved in practice that this software has powerful functions and friendly man-machine interface (MMI) and is of good applicability and maintainability.