Research On Computer Control Of Multi-motor Driving Parallel Mechanism

Parallel robot (PR) is characterized by the high rigidity, large load handling capability, and non-accumulation of position error. Parallel robot is the supplement of Series robot (SR) and has become the focus of research in robotics. At Present, Parallel robot has extensive and important applications in many aspects such as space flight, busywork in sea and land, computer-aided medical instrument, biological engineering, manufacturing and so on.Low-DOF parallel robot has nice development and application perspective for its few drive elements, low cost, simple and compact structure and high practicality value. So it is quite necessary to research it. Based on this, kinematics relations of GPM series 2-DOF parallel mechanism, which excogitated by Googol Technology Ltd, are analyzed in this project.In the research aspect of robot control theory, first, after analyzing the high complexity of parallel robot's dynamics relations and coupling characteristics, principles for selecting control laws are presented. Second, a distributed variable structure controller for parallel robot is designed. Both simulation results and theoretic analysis proved the stability and fast tracking performances of the control law.In the experiment of numerically controlled parallel mechanism system, this paper adopts the framework of multi-PC and sets up the hardware systems with PC and standard control card. This framework can greatly simplify the structure of the control system and has good reliability and opening ability. On the end, an efficient robot control program written in VC++ code, which can drive robot to move along any locus in its workspace with high precision, is designed.