3-PUU并联坐标测量机控制策略研究

Study on the Control Strategy of 3-PUU Parallel Coordinate Measuring Machine

通过对3-PUU并联坐标测量机结构和测量原理的分析,设计出"PC+运动控制卡"的硬件控制系统;运用运动学理论,建立3-PUU坐标测量机的运动学反解模型。通过动平台在空间坐标系中的坐标可以确定滑块的位置,再根据位置关系,运用直线插值的方法,完成坐标测量机的轨迹规划,给出控制算法。最后,通过MATLAB仿真技术,绘出滑块的运动规律图和动平台的运动轨迹。

Through the analysis of the structure and measuring principle of 3-PUU parallel coordinates measuring machine, a hardware controlling system based on ＂PC ＆ motion control card＂ was designed. Combined with kinematics theory, the inverse kinematics model of 3-PUU parallel coordinate measuring machine was established. According to the coordinates of the moving platform in the space coordinate, we can know the position of the slider. Then given the positional relationship, the linear interpolation method was proposed. It was used to complete the trajectory planning nally, using of the MATLAB simulation, the movement law of the slider and the trajectories of the moving platform was achieved.