PRS-XY型混联机床运动控制方法研究  

Study on Method of Motion Control for PRS-XY Type Hybrid Parallel Machine Tool(PMT)

作　　者：牛志刚[1] 张建民[1] 

机构地区：[1]北京理工大学机械与车辆工程学院

出　　处：《机械科学与技术》2006年第1期57-59,98,共4页Mechanical Science and Technology for Aerospace Engineering

摘　　要：为实现PRS-XY型混联机床的运动控制,建立了该机构的逆运动学模型,导出了虚轴和实轴位置变换的逆运动学公式。提出了“PC+Turbo PMAC”开放式数控系统构建模式,将逆运动学变换算法嵌入到Turbo PMAC中,并由Turbo PMAC完成粗插补运算,使运动过程不再依赖上位机,克服了上位机与Turbo PAMC的数据传输瓶颈,提高了控制系统的可靠性和实时性。In order to control the motion of PRS-XY hybrid PMT, its kinematics modeling is set up and its kinematics expression for calculating the position change from realistic axis to virtual axis is deduced. The open mode based on ＂PC ＋ Turbo PMAC＂ is put forward. Kinematics calculation for motion conversion is embedded into the Turbo PMAC which accomplishes rough interpolation so that the motion process no longer depends on a superior computer. Consequently, the bottleneck of data transport between the superior computer and the Turbo PAMC is avoided. Thus reliability and real - time property of the control system are improved.

关 键 词：PRS-XY 混联机床 运动控制 TURBO PMAC 

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]