Development Of Control System And Experimental Investigation For 6PUS-UPS Parallel Manipulator

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.Nowadays,the open numerical control system is the main direction of the technique of numerical control,among which the"embedded NC"control system with parallel double-CPU 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, based on"IPC+PMAC", constructed an open numerical control system of parallel manipulator. The control software, based on Windows Operating System, is designed with the functional modularization. The basic control functions of 6PUS-UPS parallel manipulator are realized.In the first place, the concerned coordinate system is established, data of the end effector transforms into the posture of the moving platform. Kinematics model of inverse solutions is used to plan trajectory planning, then, the virtual prototype of parallel manipulator is established in ADAMS, at the same time, the simulation results and theoretical results of the kinematic are compared, which has showed the correctness of inverse models and built the good foundation for software control. Closely concerning the need to the research and development of 6PUS-UPS parallel manipulator, this paper introduces the hardware structure of the numerical control system of open parallel manipulator, based on"IPC+PMAC"; The function of this applied software program is developed with Visual C++, based on the functional modularization, and the main module is introduced in detail in this paper.Finally, according to the requirement and the application software is debugged and run, experiments were performed based on the actual system. The better moving stability, better maneuverability, less noise, lower vibration, etc, are shown in the operation of the parallel manipulator. It is proved in experimental results that the accuracy of positioning, the correctness of this inverse models and interposition arithmetic, the validity of hardware and software.