PRS-XY型混联机构运动学分析和运动控制  

Kinematics Analysis and Motion Control of PRS-XY Hybrid Framework

作　　者：牛志刚[1] 张建民[1] 周鸿斌[1] 罗奕[1] 

机构地区：[1]北京理工大学机械与车辆工程学院

出　　处：《组合机床与自动化加工技术》2005年第6期45-47,共3页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：在研究PRS-XY型混联平台结构的基础上,建立了该机构的运动学模型,通过逆运动学解析,给出PRS-XY型混联平台的运动控制算法,导出了计算实轴位置的运动学公式。阐述了PRS-XY型混联加工平台的控制过程,提出了在基于TurboPMAC平台的数控系统中将粗插补和运动学算法下载到TurboPMAC卡中运行的方法,可以提高机构运动的在线实时控制能力,该方法也可用于其它类型并联机构或机床的控制。Based on study of the structure of PRS-XY type hybrid mechanism, the kinematics modeling of the framework is set up, the algorithm for motion control is resulted and kinematics expression to calculate the position of realistic axis is deduced through the analysis of inverse kinematics. The process flow to control PRS-XY type platform is analyzed in detail, and a method is introduced that in NC system based on Turbo PMAC, the calculation of rough interpolation and kinematics is downloaded into Turbo PMAC and executed in it in order to enhance the capability of real-time control on line. This method can also be applied to other kind of kinematics mechanism or machine tool for motion control.

关 键 词：PRS-XY 混联机构 运动学分析 运动控制 

分 类 号：TG659[金属学及工艺—金属切削加工及机床] TH112[机械工程—机械设计及理论]