The Control Of Three-Axis Parallel Robot Based On FPGA

Three axis parallel robot belongs to the less degrees of freedom parallel robot, itssimple mechanical structure, strong carrying capacity, the advantages of high rigidity,stable structure makes it widely used in automobile assembly, food packaging,electronic components, SMT, etc. Three axis parallel with huge market value andwide application fields become a research hotspot.Three axis parallel robot need real-time processing for large calculation, a morecomplex part is its space position inverse solution algorithm, the inverse solutioncalculation formula of complex including trigonometric function calculations, rootoperation, operation, method, etc. In this paper, according to the characteristic of thecalculation formula of complex, this paper proposes a whole assembly line designbased on FPGA implementation, added new implementation approaches for the field.Paper mainly includes six parts: the selected topic background and significance, themotion platform analysis, system overall scheme design, system hardware design,software design and system test.The first part of the thesis introduces the research status at home and abroad andthe application of the parallel robot, this paper expounds the thesis researchbackground and research significance.The second part of the thesis of three axis parallel robot motion platform hascarried on the comprehensive analysis of the movement platform coordinate system isestablished, the position of positive solution, the solution analysis and spatial analysis.The third part of the thesis discusses the three axis parallel robot control systemoverall scheme design. According to the application fields of three axis parallel robotdetermines the main parameters of control system, and compares the control schemeselection, finally determine the three axis parallel robot control system overall schemeand process.The fourth part of the paper briefly describes the hardware design of the system.The type selections of key components and the design of the main circuit are mainlyintroduced.The fifth part of the thesis discusses the control system of the FPGA logic design,as a key part of the paper. The FPGA logic design is mainly needed to complete thethree axis parallel robot control of a large number of real time operation, is a keyproblem for this design.The sixth part of the thesis discusses the system of test and the results areanalyzed.