一种4-DOF串并联机器人控制系统的设计  

Control System Design of a 4-DOF Series-parallel Robot

作　　者：郑建勇[1] 王文凯[1] 李为民[2] 史金飞[1] 

机构地区：[1]东南大学机械工程学院,南京211189 [2]河北工业大学机械学院,天津300130

出　　处：《组合机床与自动化加工技术》2008年第4期42-46,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然基金资助(50475055)

摘　　要：文中针对4-DOF串并联机器人试验样机的研制,基于运动副分析,介绍了其主体结构3-7R并联解耦机构的构型,进行了运动学分析;并基于动平台的位置控制,选用了CUSNUC2100数控系统作为机器人控制系统的硬件平台,建立了系统的控制结构和机器人控制轨迹的计算模式图。该系统控制结构简单,成本低,柔性较好,经调试可以获得较高的运动精度。这对商用数控系统在机器人控制中的应用是一次有益的尝试,也是后续机器人控制和标定研究的基础。In this paper, a 4-DOF series-parallel robot experimental prototype is being discussed. Its main structure is a 3-7R parallel decoup ling mechanism. The configuration characteristic and the kinematics of 3-7R parallel mechanism are solved in this paper, which has been obtained from the movement pair-analysis. With the investigation on the robot experimental prototype, and based on position control of the moving platform, CASNUC2100 is selected as the Hardware Platform for the robot NC control system. In view of the robot＇ s specific requirement, the control structure of NC system and its computation pattern path of control have been solved. This system control structure is simple and can bring low cost, control flexibility and high motion accuracy after testing. It is a beneficial attempt study to the commercial numerical control system in robot control application, and is also the basement of the following study of the robot＇ s control, calibration etc.

关 键 词：串并联机器人 解耦 运动学 CUSNUC2100 

分 类 号：TP224.2[自动化与计算机技术—检测技术与自动化装置]