Research And Development Of Open NC System Based On Clipper For 3-TPS Hybrid Robot

NC technology is a core technology for hybrid robots. The architecture of a hybrid robot is simple, but its control is difficult. Different architecture has different parameters, causing different inverse kinematical model. Besides, a hybrid robot needs multi-axis control. All of these factors increase the requirements in controlling accuracy, real-time, openness and adaptability for its NC system.Aiming at architectural characteristics and motion performance requirements of 3-TPS hybrid robot that is designed and manufactured by NORTHEASTERN UNIVERSITY, an open NC system based on Clipper is presented by means of experimental verification. Four sections are mainly researched and developed in this paper, which are as follows.Firstly, taking 3-TPS hybrid robot as an object for research, coordinate transformation matrix is founded, and then inverse kinematics is established in the form of mathematical model.Secondly, based on analyzing interface principle of Clipper and its I/O boards as well as Panasonic servo units, hardware circuit of the open NC system based on Clipper used for 3-TPS hybrid robot control is designed and manufactured. Thirdly, software platform is overall developed and applied in this section, which mainly concludes as follows. Scheme the software platform structure of NC system used for 3-TPS hybrid robot control. Research moving control principle and flow of 3-TPS hybrid robot tool, which is based on its inverse kinematical model, and ascertain sequential development steps of motion program used for 3-TPS hybrid robot motion control. At last, analysis the principle of position loop feedback and velocity loop feedback between Clipper and Panasonic servo units.Fourthly, based on the open NC system presented in this paper, the sequentially developed steps of Pewin32 PRO2 which is the programming software of Clipper ascertained in this paper, and the pose controlling flow of 3-TPS hybrid robot founded in this paper, program Clipper to realize horizontal plane motion of 3-TPS hybrid robot with 4-DOF and three-dimensional motion of 3-TPS hybrid robot with 5-DOF by means of experiments after inverse kinematical model is brought into Pewin32 PRO2, which verifies that the open NC system of 3-TPS hybrid robot based on Clipper is viable, and that the inverse kinematical model of 3-TPS hybrid robot founded in this paper and the moving program used for 3-TPS hybrid robot motion are correct.