| This paper is mainly about the kinematics and dynamics analysis of 2PRC-PRS parallel mechanism,and on this basis, B&R fieldbus technology combined with the parallel mechanism control system has been designed The main research works are summarized as follows:A brief description of the less DOF parallel mechanism in the development of the situation of domestic and international, and parallel mechanism theory and application prospects of the proposed topics of significance. Describes the structural features 2PRCRPS Parallel Mechanism, established contacts between generalized coordinates and Cartesian coordinates, use the Montreal algorithm work space agencies.Completed the structural details design of the 2PRC-PRS parallel mechanism and optimized the size parameters. Provided the design parameters and processing requirements of key components. Established 3D model parts and animation simulation by Solid Works software. Drew processing maps in AUTOCAD software. After purchasing parts and processing by machinery factory, created the experimental platform eventually.Combined with the B&R’s product servo motion controller, according to the industrial application standard completely, independently designed and set up a network based on POWERLINK bus motion control system(cabinet), including human-computer interaction, the master display, servo drives, sensing and security five parts.In Automation Studio 3.0 software platform, using a modular approach, based on the structured text(ST) programming language developed 2PRC-PRS parallel experiment platform control system software, the software contains interactive interface, security alarm, back to zero calibration, uniaxial control, multi-axis, I/O control and the spindle control function modules to meet the requirements of the basic functions required for the experiment.Based on the parallel platforms and the electric control cabinet, we have carried on the experimental study, including the parameter setting of the three-ring servo motor,electronic gear test, and the motion control experiment of the 2PRC-PRS parallel platform. Finally, combined with the network communication technology, explored the wireless remote control experiment.This article has laid a theoretical and experimental basis for further research on 2PRCPRS three degree of freedom parallel mechanism, enriched the practice experience of industrial network real-time control system,and provided references for the electromechanical integration equipment research and development. |
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