| Parallel Robot is characterized by the high rigidity, large load hangling capability, and non-accumulation of Position error. Parallel Robot is the supplement of Series-Robot and has become the focus of research in robotics.First, a parallel robot mechanism of two degrees of translationl and one degrees of rotational freedom is investigated. Closed- formed solutions are developed for both the inverse and direct kinematics. The mechanism decouplityis discussed. Compared with the similar mechanisms, the mechanism is not only simple in structure, but also fewer solutionsfor position analyses. At the same time, a series - parallel manipulator of Chinese massage was designed with the parallel mechanism. The manipulator's workspace was large and the dynamic property was favourable. The parallel robot mechanismhaswide application in the fields of industrial robots, micromanipulators, virtual axis machine tools, damping platforms and etc.Second, this dissertation adopts the framework of multi-PC and set up the hardware systems with PC and standard control card.And then, hardware connected drawing include stepmotor photoelectricity coder and moving control card was shown. A completed parallel robot control system was set up afer analyzing principles from selecting control laws.On the end, an efficient robot control program written in VC++ multithread code, which can drive robot to move along any locus in its workspace with high precision was designed. |
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