CNC Development Of Test-bed For Compliant Wrist With Seven DOF

Compliant wrist is a kind of compliant device which can be used in shaft and hole mating, this project aims at the CNC research and development of the test-bed for compliant wrist.In this paper, according to the request of the compliant wrist structure and performance, an open NC(Numerical Control) system is designed based on the analysis of the test-bed mechanical structure. The control centre of the system adopts a principal and subordinate distributed Dual-CPU structure, which is composed of an Industrial Personal Computer(IPC) and a programmable multi-axes digital motion controller. This control centre constitute the hardware platform with the Panasonic MINAS A4 series AC-servo system. And the software of NC system is developed independently. So this system has modularization and good expansibility. This system's hardware structure is open, modularized, embedded, economical and practicable, and it has good reliability and motion precision.This paper has done some deep researches in hardware structure as below: the hardware configuration of the control system, hardware interface technique of CNC, and the design of the force sensing collection system.Windows 2000 is the operation system platform of NC system's software. In the software design of CNC, some new methods have been adopted to assure the precision and stability of the system, such as OOP(Object Oriented Programming),Multimedia Timer and Multithread. All the modules include the system management,interface,program compiling and force sensing & control are developed with the aid of Visual C++6.0 language. The system's software is open, has good real-time and modularization capability with friendly interface, and also has the capability of multi-tasks concurrent processing.This open NC system has good applicaton effect on the synthetical performance test-bed for compliant wrist with seven DOF.