Based On Stepper Motor-driven 6-the Thrt Parallel Robot Control Technology

This paper studied the 6-THRT parallel robot that is drived by stepping motor, and studied the method that realized the opened-loop control. Then inquired the control strategy that the axel' s opened-loop control and system' s closed-loop control.Based on studied the system and kinetics characteristic of the 6-THRT parallel robot, this paper established the deliver function of the kind of link, Analyzed the stability and the influence coefficient of the tolerance then how to compensate this tolerance to this system. Then we setted up a hardware system that is drived by stepping motor and controlled by industrial computer, realized the opened-loop control, in order to a good effect, we studied the axel's opened-loop control and system' s closed-loop control. The track of robot was carried out, included the moving platform rotate and reach to an angle, established the mathematical model of the axel according to the D-H matrix and realized the two kinds of track sports. Based on the mathematical model and algorithm of track planning, object oriented program of VC(?) design method was adopted to work out the control programming.At last, we verified the algorithm of track and the executing of control programming, some useful conclusions that provide reference conclusion for another track planning are obtained.