Research On Kinematic And Control System Of 3-PRS Parallel Machine Tool

With the development of CNC machine tools,parallel machine tool as a new tool has been used in many important areas.Parallel Machine Tools is also called Virtual Axis Machine Tools.Parallel machine tools is developed basing on principle of spatial Stewart platform,which is the product of Parallel Robotic Mechanisms and machine tools.In needs of practical application,lower-mobility parallel mechanism became study hotspot.While the 3-PRS parallel machine tool own high structural stiffness,fast response speed,three parallel drive,which will help real-time control,its study is representational in lower-mobility parallel mechanism.3-PRS parallel machine tool has been applied in the actual production.This paper conducted the kinematic and control system research of 3PRS parallel mechanism.The main research contents of this paper are as following:Firstly,this paper introduces the research background;the research status and development tendency of Parallel Machine Tool are briefly summarized.Secondly,it carried out a detailed kinematic analysis of 3-PRS parallel machine.The geometric model was established to calculate the degree of freedom of 3-PRS parallel mechanism and pose matrix of parallel mechanism.Then obtained the expression 3-PRS parallel machine position and solving the inverse formula of the drive rod length.Thirdly,kinematic calibration method and its research status on parallel kinematics machines were analyzed and summarized.The machining error of was explained,the kinematic calibration method was classified,some suggest on the study of kinematic calibration was put forward,Then the kinematics calibrating method calibrating steps are developed.After the hardware system design were studied A open control system solutions was designed based on "PC + motion control card".The features of PCI-1243U motion control card and connection method of servo motors,servo drives are stuied.Finally,the 3-PRS parallel mechanism software system was designed.System use Microsoft Visual Basic6.0 write interface,call control function library card campaign to generate pulse and direction signal control steering and speed ofthe motor,enabling the parallel machine tool.