摘要
基于串联机构与并联机构的不同特性以及伺服电机的优良控制特性,设计了一种串并联混合的五自由度运动平台,通过对平台并联机构的动力学分析,提出一种3-RPS并联机构正解几何算法。设计了基于C#语言的控制系统,并对系统的硬件与软件进行了介绍,控制系统可以实现平台运动范围内的精确控制,测试结果显示:平台平动定位精度优于10μm,转动定位精度优于0.01°。
Based on the different characteristics of the serial mechanism and parallel mechanism and the excellent control charac- teristics of the servo motor, a series-parallel hybrid five degrees of freedom （5-DOF） motion platform is designed. Through the dynamic analysis of the parallel mechanism, a normal solution of geometric algorithm for 3-RPS parallel mechanism was proposed. A control sys- tem based on C# language was designed, and the hardware and software of the system were introduced. The control system could realize the precise control in the movement range of the platform. Test results show that the translational platform positioning accuracy is better than 10 μm and rotation positioning accuracy is better than 0. 01°.
出处
《机床与液压》
北大核心
2017年第17期63-66,共4页
Machine Tool & Hydraulics
