一种新型3P-6SS并联机构的运动控制  

Motion Control of a New 3P-6SS Parallel Mechanism

作　　者：郭磊[1] 甘东明[1] 廖启征[1] 魏世民[1] 

机构地区：[1]北京邮电大学,北京100876

出　　处：《中国机械工程》2008年第9期1013-1015,1071,共4页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50475161);国家重点基础研究发展计划资助项目(2004CB318000);2004年教育部科学技术研究重点项目(104043);高等学校博士学科点专项科研基金资助项目(20050013006)

摘　　要：提出了一种新型的3P-6SS并联机构,计算了其运动学反解。制作了这种并联机构的实物样机,并搭建了该并联机构的控制系统。基于数字信号处理器(DSP)编写了控制程序,并使用3P-6SS并联机构的实物样机进行了实验。在无抬笔、落笔控制的情况下,该并联机构写出了有联笔的字母"BUPT";在有抬笔、落笔控制时,该机构写出了无连笔的数字"2008"。实验结果表明了反解算法的正确性和控制系统的有效性。A kind of new 3P--6SS parallel mechanism was presented. And its inverse kinemics solution was achieved. The control system was designed for the real 3P-- 6SS parallel mechanism and the control program was written based on DSP. The experiment was performed based on the 3P--6SS parallel mechanism. The letters ＂BUPT＂ were written by the mechanism without lifting and droping the pen on the moving platform. And the numeral ＂2008＂ was written by the mechanisam with lifting and droping control. The experimental results show the validity of both the algorithm and the control system.

关 键 词：3P-6SS并联机构 位置反解 运动控制 数字信号处理器 

分 类 号：TH113.2[机械工程—机械设计及理论]