The Design And Implementation Of Parallel Robot Motion Controller For Remote Monitoring System

Parallel Robot is a combination of mechanics, electronics and computer, which is, usually, composed of two or multiple kinematic branched chains, with the top and bottom kinematic platforms. The kinematic branched chains and the platforms build up one or more closed loop structures, which provide multiple operable degree-of-freedom for the whole mechanism via the variation of kinestate of each branched chain. It has been widely adopted in various industries, due to its multiple degree of freedom, high output precision, quality structure rigid, strong bearing capability, simple parts and being easy to control etc.. As the core of a robot, the robot controller is one of the most critical factors contributing to the robot performance.The prompt development of Information Technology and the widespread use of Internet, has lead to the possibility for such remote robot monitoring, meanwhile, higher requirements are raised for the performance of robot monitor. Embedded system is the best option in this regard, considering its powerful capability of network processing and multi-task parallel processing, and also the advantage of its real-time capability, cost, power dissipation, small-sized, and reliability.In this thesis, 3P-6SS parallel mechanism robot of three prismatic pairs is controlled to move along the parallel guide way set on a fixed base. Analysis on the structures and positions of the 3P-6SS parallel mechanism is demonstrated. On this basis, the hardware design of the embedded remote motion controller system is introduced: The PWM signals output from ARM7 embedded micro-processor LPC2292 is input to the servo driver to monitor the robot movement. The Ethernet interface of the ARM9 embedded micro-processor S3C2410 is connected with Internet to implement the remote robot monitoring via Internet. The both processors are connected to the CAN BUS through CAN BUS interface, constructing a distributed CAN BUS controlling system, which not only fulfills the requirements for the monitoring system, but it is also good for functional extensibility. As for the software design, the development on CAN BUS driver is included. Besides, the application for remote monitor data transmission is implemented based on . TCP/IP network protocol. The monitor system software has been debugged using Visual C++ 6.0 on PC machines.