共查询到19条相似文献,搜索用时 125 毫秒
1.
2.
3.
4.
5.
在分析 5 UPS/PRPU 5自由度并联机床机构的基础上 ,介绍了并联机床运动控制的基本原理 ,确定了具体的运动控制算法 ,将输入控制系统的数控刀位数据转化为驱动轴的控制指令 ,从而实现对机床加工过程中刀具位姿的控制。根据该算法编制的数控软件已成功地应用于实际的并联机床控制 ,取得了较好的效果。 相似文献
6.
7.
8.
通过对开放式运动控制系统的发展及定义的分析,运用软、硬件的设计方法,自行开发出一套两轴车床控制系统。它采用以工控机和PMAC运动控制卡为平台,将工控机作为系统管理平台,用于实现人机交互和程序管理,PMAC卡用于完成各轴的运动控制和逻辑顺序控制,他们之间通过总线和双端口RAM两种方式进行通讯,协调完成控制系统的各种功能。 相似文献
9.
《现代制造技术与装备》2016,(12)
本文主要基于运动控制卡PCI-1240对在线智能探伤平台进行了控制系统的设计。为了实现探伤平台的工件装夹、送料、探伤等功能,基于VC++语言设计了该控制系统的操作软件,以实现对探伤平台系统的控制。 相似文献
10.
在分析并联机床控制特点的基础上,介绍了美国kollmorgen公司的8轴联动运动控制卡,提出以此卡为控制核心、工业控制机为系统支撑单元的主从式7轴联动并联机床数控系统设计方案,并分析了系统硬件结构和软件模块。 相似文献
11.
Jin Zhenlin School of Mechanical Engineering Yanshan University Qinhuangdao ChinaGao Feng Hebei University of Technology 《机械工程学报(英文版)》2002,15(4):298-302
The unique design for a novel 6-SPS parallel 3-dimensional platform manipulator with an orthogonal configuration is investigated. The layout feature of the parallel manipulator is described. Its force/motion transmission capability evaluation criteria are presented. At the orthogonal configuration, the criteria and the relationships between the criteria and the link lengths are analyzed, which is important since it can provide designer a piece of valuable information about how to choose the linear actuators. From the analysis of the results it is shown that the force/motion transmission capabilities of the parallel manipulator are characterized by isotropy at the orthogonal configuration. The manipulator is particularly suitable for certain applications in 6-DOF micromanipulators and 6-axis force/moment transducers. 相似文献
12.
《机械工程学报(英文版)》2020,33(4):63-76
The hydraulic parallel manipulator combines the high-power density of the hydraulic system and high rigidity of the parallel mechanism with excellent load-carrying capacity. However, the high-precision trajectory tracking control of the hydraulic parallel manipulator is challenged by the coupling dynamics of the parallel mechanism and the high nonlinearities of the hydraulic system. In this study, the trajectory control of a 3-DOF symmetric spherical parallel 3 UPS/S manipulator is evaluated. Focusing on the highly coupling and nonlinear system dynamics, a compound impedance control method for a hydraulic driven parallel manipulator is proposed, which combines impedance control with the spatial motion characteristics of a parallel manipulator. The control strategy is divided into the inner and outer loops. The inner loop controls the impedance of the actuator in the joint space, and the outer loop controls the impedance of the entire platform in the task space to compensate the coupling of the actuators and improve the tracking accuracy of the moving platform. Compound impedance control does not require force or pressure sensors and is less dependent on modeling precision. The experimental results show that the compound impedance control e ectively improves the tracking accuracy of the moving platform. This research proposes a compound impedance control strategy for a 3-DOF hydraulic parallel manipulator, which has high tracking precision with a simple and cheap system configuration. 相似文献
13.
14.
15.
气动三自由度并联平移机器人由固定平台、动平台、3个辅助臂和3个驱动臂组成,3个辅助臂约束机器人动平台的转动,3个气缸驱动机器人动平台沿x, y, z方向的运动。根据并联平移机器人的机械结构及运动特征,得到动平台的运动学正解和逆解。在并联平移机器人的运动控制中,不仅要减少单个驱动臂的跟踪误差,还需考虑驱动臂间的运动协调性。由于气体的可压缩性、负载的时变性和摩擦力等因素,精确的驱动臂模型难以建立,因此针对单个驱动臂设计了线性自抗扰控制器;此外,根据机器人结构特点设计基于驱动臂跟踪误差分解组合的协调控制器,解决了运动协调的问题,进一步减小了空间轨迹的跟踪误差。实验证明了该控制策略的有效性。 相似文献
16.
研究了一种新型的3自由度3-P-2SS球平台机器人的运动传递性及其在工作空间的分布规律.该机器人在坐标原点具有最佳的运动传递性能,介绍其正交的结构布局特点,基于其位置反解推导运动学传递方程,定义其沿x、y和z方向的运动传递能力评价指标,给出这些评价指标在工作空间内的分布情况,这对该种球平台机器人的合理任务规划很有帮助. 相似文献
17.
18.
Reciprocal screw theory based singularity analysis of a novel 3-DOF parallel manipulator 总被引:2,自引:2,他引:0
Singularity analysis is an essential issue for the development and application of parallel manipulators.Most of the existing researches focus on the singularity of parallel manipulators are carried out based on the study of Jacobian matrices.A 3-DOF parallel manipulator with symmetrical structure is presented.The novel parallel manipulator employs only revolute joints and consists of four closed-loop subchains connecting to both base and platform via revolute joints.The closed-loop subchain in each chain-leg is a spherical 6R linkage.The motion characteristics of the output link in the spherical 6R linkage with symmetrical structure are analyzed based on the interrelationships between screw systems.The constraints that are exerted on the platform by each chain-leg are investigated applying the concept of generalized kinematic pair in terms of equivalent screw system.Considering the geometric characteristics of the parallel manipulator,the singularity criteria of the parallel manipulator corresponding to different configurations are revealed based on the dependency of screw system and line geometry.The existing conditions of certain configuration that a singularity must occur are determined.This paper presents a new way of singularity analysis based on disposition of constraint forces on the geometrically identified constraint plane and the proposed approach is capable of avoiding the complexity in solving the Jacobian matrices. 相似文献