冗余并联机床开放式数控系统体系结构

Opening CNC system of parallel kinematic machine with actuation redundancy

冗余并联机床是并联机床的一个发展方向,研究和开发冗余并联机床的开放式数控系统,对于推动并联机床的发展和实用化进程具有重要的意义,基于开放式的设计思想,通过设计和实施层次化的体系结构、模块化的功能单元和严格的接口协议,以及建立并行多任务机制和进程间通讯机制,建造开放式冗余并联机床数控系统。最后,通过在两台驱动冗余并联机床上的应用验证表明,这套数控系统具备开放式的体系结构,能够满足冗余并联机床的要求。

The opening CNC systems of redundant parallel kinematic machines are very important for the development and practicability of parallel kinematic machines. A CNC system for the redundant parallel kinematic machine is designed and developed, which has layering architecture, modular functional units and strict interface protocols. The parallel multi-task and the interprocess communication of this CNC system are also investigated. The example that the developed CNC system is applied to two redundant parallel kinematic machines shows that the CNC system not only possesses the opening architecture but also suits redundant parallel kinematic machines.