Mechanism And Control Designing Of Parallel Machina Robots

In light industry area such as the electron, food and medicine and so on, it needs a manipulator to carry,transport and lay aside the light and small material on high speed and in the short distance. How to realize this kind of machinist to be high speed and high accuracy movement control always is the difficulty and the hot topic of robot engineering research, it has the vital significance.This paper researches on the key technology of 3-DOF high speed parallel robot and it's claw such as motion theory, control tactics, controller parameter estimation, control theory, circuit design and so on, it also do research on the control system both of high speed parallel robot which can be used to seize the things that are little volume and low mass and gas powered-claw. First,measures and the difficults during Parallel-Robot controller.Analye the hardware and software about Diamond600 controlling system,the claw's kinds and function.Then this paper researches on the position control technology of the robot, using the PC and 3-axle control card as the hardware flat roof of the system on the base of NI system.It advise that DeviceNet live-line can be used in the case of remoting system.lt also chooses the control tactics, adopts three close feedback circles including position, speed and electric current, and chooses suitable method to estimate the PID controller parameters. This system adopts the ante-feedback control and then calculates the transfer function of it. Then I designed a whole system to control the claw, It also chooses two close feedback circles including position,improve the circuit immediately,after found a c++ cin link to the labVIEW, write the controlling program is with the language of Delphi.In the end, we obtain the terminal effector and the claw's motion curves through the experiment, the result verifies the good effect of this control system.