The Control System Of Orthogonal 3-dof Parallel Robot

The research of parallel manipulators is the important part of robot's research and application. It has so many advantages such as bigger stiffness, stronger carrying capacity, without accumulated position error and so on. In recent years it becomes the hot research spot by so many domestic and overseas scholars.Orthogonal 3-dof parallel robot is one of many structure types of parallel mechanism, and it's not a full dof parallel robot. The agency is composed by a moving platform, three branch chains and a fixed platform. The motion platform and the fixed platform are connected through three branch chains, which is mutually orthogonal. Each chain composed by a cylindrical joint and two rotational joints, and these three joint axes are parallel to each other. Orthogonal 3-dof parallel robot has great industrial application value, mainly used in parallel machine tool, machinery processing etc various purposes. In this paper, the object of our study is the control system of orthogonal 3-dof parallel robot.Due to the particularity of parallel robot mechanism itself, make it impossible to has the unified structure and control methods as serial robots, For different structure, the parallel robot usually need different control system, thus often needs to develop a targeted control system platform and control software. Therefore, in view of research and development needs of the orthogonal 3-dof parallel robot, we put forward a design scheme of orthogonal 3-dof parallel robot's control system, which is base on PC and movement control CARDS.On the base of kinematics and dynamics analysis, we choose PC as the core handle part of motion control, and the movement control CARDS is responsible for the entire motion control details, choose the servo drive system composed of servo motor and servo driver, and with VB 6.0 as the tool, developed the open, commonality, flexible motion control system software and hardware platform.This system get the PC's information processing ability and the movement control CARDS'movement control ability together, have a high degree of openness, information processing capability, real-time adjustment advantage prominent, accurate motion control trajectory and general good points.Meanwhile,movement control CARDS provides DLL in the Windows environment, which is very convenient. It not only greatly shortened product research and development cycles, and can realize more perfect motion control system.