The Research And Development Of The CNC System Of A 2-DOF Parallel Robot For Teaching And Demonstrating

After careful study on a 2 degree of freedom (2-DOF) parallel robot, this essay presents a design plan for a 2-DOF parallel robot based on virtual device technology. Taking the open system structure of the PC+NI motion control card as the core of the hardware platform, basing on the modular design theory, the control system software frame is constructed and the core function of the control system is realized with LabVIEW graphic development software The achievement of the essay is summarized as the following:(1)After studying the kinematical modeling method of a 2-DOF parallel robot and constructing the forward and inverse models of the kinematical position, this essay presents a trajectory planning for the 2-DOF robot. Analyzing the characteristic of the sinusoidal, polynomial and modified trapezoid acceleration, considering the important influence the calculating speed applied on the control system and the convenience for study, the sinusoidal pattern is finally adopted for the robot's trajectory planning(2)The open hardware system structure of PC+NI motion control card is established thus providing a flexible hardware control platform to realize the function of the control system .(3)The 2-DOF parallel robot teaching platform control system is developed basing on the virtual device technology and the design of the operation panel is simplified by using LabVIEW to design the virtual device operation panel and control interface. The core control functions of the robot's Finding-home ,Dry-Run, Continuous-run and Adjustment are developed .(4)A simple method is presented through experiment to accomplish the home position adjustment of the parallel robot ,which is proved to be simple and effective .The developed control system is tested and the result shows it is reliable and the efficiency is up to 145 cycle per minute which can satisfy the pick and place operation in high speed for teaching demonstration.