基于UMAC的并联调姿平台手脉微调功能的开发

The Development of Hand Vein to Fine Tune the Function of Adjusting Parallel Platform based on UMAC

手脉微调作为自动装配定位系统不可或缺的功能,也是并联机构控制系统开发的难点之一。针对并联调姿平台的空间运动特点,提出了"手脉+IPC+UMAC"的硬件结构,通过研究并联机构的控制算法,以及手脉的控制原理,结合UMAC控制器的控制特点,利用VC++6.0开发了并联调姿平台的手轮微调模块。实际应用结果表明,该模块能够快速平稳的控制平台运动,该项技术对并联机构手轮功能的设计具有一定的参考价值。

Hand vein fine-tuning as automatic assembly positioning system indispensable function, is also one of the difficulties in the development of control system of parallel mechanism. According to the characteristics of spatial movement of adjusting parallel platform, proposed ＂the hardware structure of hand vein ＋IPC＋UMAC＂, through the study of control algorithm of parallel mechanism, and the control principle of hand vein, combined with the control characteristic of UMAC controller, the handwheel adjustment module is developed by using VC＋＋6.0 adjusting parallel platform. The results of practical application, indicate that this module is able to rapidly control the motion of the platform, which has a certain reference value to the design of the technology of handwheel function of parallel mechanism.