一种新型2-HRR并联机构及其数控系统实现

提出了一种新型的2-HRR构型的两杆两自由度并联平动机构,其具有运动建模简单、正反解计算容易、作业空间大、结构简单和易于控制等独特的优点.本论文对该并联实验平台进行了运动学分析,并结合其结构特点开发了一种开放式、模块化的数控系统,该数控系统是以“PC机 多轴运动控制器”为硬件平台,以“VisualC ”为软件平台构建的,这种构建方式可以实现系统“积木式”的集成.在此基础上,制作了2-HRR构型并联实验平台.通过联机调试,实现了正确的加工轨迹,验证了本文机构分析的正确性和数控系统的可行性.

The Design and Realization of a Novel 2-HRR Parallel Manipulator and Its NC System

A new type two-pole and two-DOF parallel manipulator has been set up. It has many advantages, for example simple movement modeling, easy to positive and negative calculation, big work space, simple structure, adopted control and so on. This paper mainly study parallel test bed kinematics analysis. According to characteristic of parallel mechanism, the CNC system with open modular architecture has been set up. The CNC hardware system is developed on the basis of "PC GT-400-SG", and the software is developed on the basis of "Visual C ". So the deviser can set up system with different module such as building block. Based on these, the prototype of parallel test bed proposed in this paper has been manufactured. The correct control method and model have been achieved through the on-line manufacturing experi- ments, which verify the reasonableness of the structure and the correctness of the NC platform.