Control Technology, Dsp-based Two Dof Parallel Mechanism

This paper studied a planer 2-dof parallel manipulator from several aspects including the parallel manipulator design, knematic capability analyse, mathematical madel of the control system establishment, signal control system design , track planning of the manipulator and realization.The reasonable dimension design is the foundation of parallel manipulator'sperformance. Based on studied several existing few-dof parallel manipulators, a planer2-dof parallel manipulator was designed and a specimen was produced. Then analysed thekinematics and gained the reverse kinematic model,which is the base of controlling themanipulator.In the aspect of control system, we selected the open-loop control system drived by steeping motor. At first, mathematical model of the control system was built and got the deliver function ,then analysed the stability, tolerance and how to conpensant this tolerance. We used DSP as controller of the system and setted up a digital control system based on TMS320F2812 DSP chip. The digital control system including DSP controller ,driver module, steeping motor and retarder. This system has advantages of high performance,high integration and convenience of software development.On the basis of kinematics model ,we realized the track planning and the control arithemetic. Then wrote programs on CCS2, which is a integred development environment. At last, the systemic experiment was finished to test the validity of model creation and system design.