| As an important branch in the field of parallel robots, less DOF parallel robot has recently become one of the hot robotics, has broad application prospects in the industrial and other sectors.3-RPS parallel robot with one belonging to one of the more characteristic, and has been applied in the actual production. The main object of study of this subject for the 3-RPS parallel robot, the kinematic analysis of parallel mechanism parallel mechanism and structural design, hardware and software, after the control system has been designed, the last of 3-PRS parallel machine prototype test.In this paper,3-PRS parallel kinematic machine carried out a detailed analysis of the establishment of a geometric model 3-PRS parallel mechanism to calculate the degree of freedom of 3-PRS parallel mechanism and pose matrix of parallel mechanism carried out a detailed analysis, obtained the expression 3-PRS parallel machine position and solving the inverse formula of the drive rod length. After the structures were designed 3-PRS parallel mechanism, including fixed platforms moving platform designed hinge design, each rod design, three-dimensional software for 3-PRS parallel machine modeled. After the hardware system design were studied PCI-1243U features motion control card and servo motors, servo drive connection method, the position of the various components inside the cabinet design and distribution of the various hardware connections and settings. Finally, the 3-PRS parallel machine tool software system design. Finally developed a 3-PRS parallel machine can be achieved in moving the workpiece fixed on the platform slope milling, grinding and machining inclined hole drilling.In this paper,3-PRS parallel machine tool control system is designed based on "PC+ motion control card" open control system solutions. PC as the main controller, PCI-1243U motion control card as a slave, through a custom command communication protocol to achieve precise control of position and velocity. Industrial PC interactive interface is responsible for managing, controlling real-time monitoring systems, motion control card to complete all the details of motion control.The topic of 3-PRS parallel machine control system using Microsoft Visual Basic to write HMI, motion control card call library, generates a pulse and direction signal control motor steering and speed, enabling the servo motor control. The open motion control system will control the PC powerful information processing capabilities, open features and motion control card combined with information processing ability, high degree of openness, easy motion control, versatility and good. |
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