两自由度并联机械手控制系统设计  

Design of Two-degree-of-freedom Parallel Manipulator Control System

作　　者：王亚娟[1] 李志[1] WANG Yajuan;LI Zhi(School of Mechanical and Information Engineering, Shanxi Energy Institute, Xianyang, Shanxi 712000, China)

机构地区：[1]陕西能源职业技术学院机电与信息工程学院,陕西咸阳712000

出　　处：《微型电脑应用》2020年第6期74-77,共4页Microcomputer Applications

基　　金：咸阳市重点研发计划(2019K02-07)。

摘　　要：主要对两自由度并联机械手控制系统进行了研究和设计,针对简化后的机械机构,完成了控制系统的整体框架及硬件总体架构的设计,并对运动控制单元及伺服驱动单元进行选配和设置,系统控制器选用了运动控制CPU,完成对各连杆坐标系及对应参数的确定,通过变换坐标系建立求解方程组(遵循相等矩阵对应元素分别相等的原则),实现机械手运动学逆解的获取,在此基础上通过几何法的应用即可实现运动学方程组简单快速的建立,从而获取机械手运动学正解实现对机械手的控制过程,实现了机械手的有效控制及平稳运行过程。This paper mainly studies and designs the two-degree-of-freedom parallel manipulator control system.For the simplified mechanical mechanism,the overall framework of the control system and the overall hardware architecture are designed,and the motion control unit and servo drive unit are selected.The system controller selects the motion control CPU to complete the determination of the coordinate system and corresponding parameters of each link.The equations are solved by transforming the coordinate system(following the principle that the corresponding elements of the equal matrix are equal)to realize the kinematics of the robot.On the basis of the acquisition of the inverse solution,the application of the geometric method can realize the simple and rapid establishment of the kinematics equations,so as to obtain the positive solution of the kinematics of the manipulator to realize the control process of the manipulator,and realize the high-speed,precise and smooth operation of the manipulator.

关 键 词：机械手 两自由度 并联机构 轨迹控制 同步控制 

分 类 号：TG409[金属学及工艺—焊接]