一种新型2自由度并联机械臂的轨迹控制  

New 2-DOF Parallel Manipulator Trajectory Control

作　　者：李伟[1] 王玉涛[1] 杜金凤[2] 曹晓彦[1] 

机构地区：[1]郑州轻工业学院机电工程学院,郑州450002 [2]新乡职业技术学院,河南新乡453000

出　　处：《煤矿机械》2012年第1期207-208,共2页Coal Mine Machinery

摘　　要：介绍了一种基于双极坐标并联机械臂的运动轨迹示教再现的设计方法。以文字书写为例,可以把文字的每个笔画用直线段来拟合,然后把这些直线段的起点和终点作为示教点。利用西门子S7-200PLC的计数器记录编码器在示教点的数据,完成文字书写的示教;再现时,调取PLC记录的示教点的数据,通过PLC控制两极坐标轴电机的输入脉冲,使用在极坐标下的直线轨迹插补程序完成文字书写的再现。该双极坐标并联机械臂结构简单、工作空间敞开性好、控制方便、造价低。A design method that teaching and playback of motion trajectory based on the bipolar coordinate parallel manipulator was introduced. Take writing as example, each stroke of the word can be fit by the line and then the start and end of the segment can be used as the teaching points. Using Siemens S7-200PLC＇s counter to record the data of the encoder on the teaching point, completing the teaching. Collect the data of the teaching points recorded by the PLC. Then using the linear interpolation to complete the writing＇s reappearance through the PLC to control the input pulse of the bipolar-coordinate motor. The bipolar-coordinate parallel arm＇s structure is simple, it can easily be controlled and has rich working space and low cost.

关 键 词：并联机械臂 示教再现 轨迹插补 PLC 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]