Study On Control System Of 3-PUU Parallel Coordinate Measuring Machine

Coordinate measuring machine used in machine tool processing, aerospace, robotics, and other fields. The principle of 3-PUU parallel mechanism is discussed in this article which can achieve precise measurements of 3D only with a long grating, a precision guide. This machine can move in three-dimensional space and can build the traditional orthogonal coordinate system in accordance with the actual measurement. Due to the symmetrical weakly-coupled property, it is easy to establish contracted measurement model, control system conveniently and obtain high compensation precision by software.Kinematics forward and inverse solution model of measuring machine is established by the usage of analytical method after the analysis to the principle of 3-PUU parallel coordinate measuring machine. Working space of measuring machine is analyzed which is based on the forward and inverse solution model of measuring machine. Jacobian matrix expression is obtained through kinematics position inverse solution model of measuring machine. Singularity posture of the coordinate measuring machine is solved and the singularity analysis is accomplished as well. Trajectory planning of the moving platform is achieved based on control method of the kinematic model. One kind of control system composed by data acquisition card and motion control card is set up via the analysis of function of the measuring machine; the design of the control circuit is completed as well. The control software is designed and programmed based on data acquisition card and motion control card, the required functions such as the signal collecting of handle, motor control, data processing, and display, security protection etc. are realized.