基于FPGA的六维并联机构的数据采集系统设计  

Design of Data Acquisition System of Six-dimensional Parallel Mechanism Based on FPGA

作　　者：孙嘉霖 李艳辉[1] 霍琦[1] 李昂[1] Sun Jialin;Li Yanhui;Huo Qi;Li Ang(Changchun Institute of Optics,Fine Mechanics and Physics,China Academy of Science,Changchun 130033,China)

机构地区：[1]中国科学院长春光学精密机械与物理研究所,长春130033

出　　处：《机电工程技术》2021年第5期121-124,共4页Mechanical & Electrical Engineering Technology

摘　　要：针对6个绝对式光栅编码器数据读取与传送问题,为了得到六维并联机构的各支腿所在位置的编码器数据,设计了该数据采集及传送系统。该系统通过2个FPGA芯片状态机设计,实现了从6个单独编码器数据的并行采集读取,6个编码器数据的整合,再到6组编码器数据的接收与校验。通过实验验证,表明设计的数据采集及传送系统能够通过2片FPGA正确的传输数据,数据传输过程稳定可靠,能够提供满足六维并联机构的位姿调整所需要的编码器数据。Aiming at the problem of data reading and transmission of six absolute grating encoders,in order to obtain the encoder data of the positions of the legs of the six-dimensional parallel platform,the data acquisition and transmission system was designed.The system was designed with two FPGA chip state machines to realize the parallel acquisition and reading of data from six separate encoders,the integration of data from six encoders,and the reception and verification of data from six sets of encoders.Experimental verification shows that the designed data acquisition and transmission system can correctly transmit data through two FPGAs,the data transmission process is stable and reliable,and it can provide the encoder data required for the pose adjustment of the six-dimensional parallel mechanism.

关 键 词：六维并联机构 FPGA 编码器 数据采集 

分 类 号：TH112[机械工程—机械设计及理论]