Research And Development Of Three Degrees Of Freedom Parallel Mechanism Control System

With the development of society, human demand for automatic machine has also been a qualitative change. In this context the parallel mechanism which is different from the traditional institutions of the emerging institutions in series is produced. From the perspective of structure parallel mechanism has the following characteristics. For example, carrying capacity is stronger, inertia is lower and the cumulative error isn’t existed. The control system determines whether mechanism can achieve the desired trajectory, which must use special equipment and language to complete and are hard to upgrade.This paper is based on the 3-UPU parallel mechanism and the control system is analyzed and studied. Firstly, the research status and development trend of parallel mechanism and the open CNC system are analyzed. Studies have shown that parallel mechanism plays an increasingly important role in industrial production.Secondly, the overall structure of 3-UPU parallel mechanism is designed, including the organization of the structure, calculation of degrees of freedom, and the hardware and software design of control system.Thirdly, the each module is written. On the one hand is that the model of the kinematics algorithm model is designed by using Euler transformation and homogeneous coordinate transformation. The Jacobi matrix is concluded by the solution about the first order differential of time. Finally, the simulation based on the ADAMS and MATLAB verifies the correctness of the model. On the other hand is the design of man-machine interface, mainly including the establishment of the PC interface and the introduction of the MFC, the Clipper card and programming software.Finally, the workbench center of 3-UPU parallel mechanism goes the plane spiral trajectory, observing whether trajectory of the parallel mechanism in the case of actual control system and of running in ADAMS virtual simulation platform ideal are consistent or not. The conclusion is drawn that in the control system the writing of the MATLAB path, the man-machine interface design and the writing of movement programs are correct.