基于多轴运动控制器的三自由度并联秧苗移栽机器人的研究  

A Three-DOF Parallel Robot for Transplanting Rice Seedlings Based on Multi-axis Motion Controllers

作　　者：谢俊[1] 尹小琴[1] 马履中[1] 冯时佳 张翌[1] 

机构地区：[1]江苏大学机械工程学院,镇江212013 [2]西门子威迪欧电机(上海)有限公司,上海201801

出　　处：《机械科学与技术》2011年第2期336-339,344,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：高等学校博士点专项科研基金项目(20050299002)资助

摘　　要：对3-CRR并联机构的各分支进行了重新配置,提出了一种完全解耦的新型三自由度并联机构用于秧苗移栽的设计,并对其进行运动学分析、轨迹规划,把期望的运动轨迹转换为驱动关节的广义位置坐标,完成了在工作空间范围内的计算机智能控制。在闭环控制回路中,采用高性能DSP和FPGA技术,通过检测编码器的反馈信号,运用连续轨迹插补法,从而实现了机器人关节的精确控制。秧苗移栽机器人控制系统主要采用的是模块化和面向对象的程序设计方法,用VC++6.0编制而成。We re-allocated the various branches of a 3-CRR parallel mechanism and proposed a new three-DOF parallel mechanism which is completely decoupled for the design of transplanting rice seedlings.We analyzed its kinematics and planned its trajectory.We transformed the anticipant trajectory into generalized location coordinates of driving joint and completed the intelligent control of the computers within the scope of the work.In a closed-loop control circuit,we use high-performance technology of digital signal processor（DSP） and field programmable gata array（FPGA）.By detecting the encoder′s feedback signals,continuous trajectory interpolation is used to achieve the precise control of the robot joints.The control system of transplanting rice seedlings robot mainly uses modular and object-oriented programming methods,and is compiled by VC＋＋6.0.

关 键 词：并联机构 秧苗移栽 运动控制 模块化 

分 类 号：TH112[机械工程—机械设计及理论]