| Parallel machine as a new machine, has lots of advantanges, such as high stiffness, strong load capacity, good dynamic performance, high speed and simple structure. In recent years, it has much attention of international academic and engineering range. Motion control system is an important part of parallel machine tools, and is the important factors of determining machine tools’performance. Because of different conFig.urations and parameters, there is not a control system suit for all parallel machine tools. So there is only one control platform, whose software and hardware is configurated by developers, using open architecture to construct control system. In this paper, the control system of PC+motion control card was studied, the Visual Basic programming language was used to build a motion control system based on PCI-1243U, and this control system was successfully applied in two parallel machine tool. This paper included the followings:(1)This paper summarized the development, present situation, tend of parallel machine tool and CNC system, and proposed the source, purpose, significance and main contents of this topic.(2)The control system of two parallel machine tool was designed totally, the controller that bases on PC+motion control card was designed, the control platform of parallel machine tool was built.(3)The kinematics of two parallel machine tool was analyzed, including positive and inverse solutions of location, velocity, acceleration, workspace analysis, singularity analysis etc. And use ADAMS simulation software to simulate the positive and inverse solutions of location, velocity and acceleration, getting the corresponding simulation data of two parallel machine tool. This had proveded a theoretical basis for control system of two parallle machine tool.(4)The interpolation algorithm of parallel machine tool was researched, including trajectory, trajectory interpolation, position inverse solution, interference testing etc. Firstly, mathematical model of tool path was created; The tool path equation was calculated based on the mathematical. Secondly, the tool path was interpolated based on point by point comparison method. Finally, according to the results of inter-polation, the inverse solution of location was solved, and the collision detection and velocity was checked.(5)The software of parallel machine tool was designed. PC as the core controller and Windows as the operating platform, the software of control system was designed based on Visual Basic programming language. The whole control system was devided into some modules, including user interface, interference checking, error compensation, interpolation calculation, and some auxiliary modules ect.(6)The control system of two parallel machine tool was verified through experiments. The program of continuous holes and linear interpolation was compiled. Then the control system of two parallel machine tool was verified. |
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