【摘要】 在自主研制的新型五自由度并联机器人的基础上,设计完成了以微机、无刷直流电机PCI接口测控卡为基础的控制系统硬件部分,应用ADAMS软件求解了机构的位置反解曲线,利用C++语言编写了机器人系统的控制软件,实现了并联机构连续轨迹运动。实验结果验证了本并联机构及其控制系统的可行性。更多还原

【Abstract】 On the foundation of novel five-DOF parallel robot developed by University, the hardware of the control system based on microcomputer、BLDC and PCI interface measure & control card was done. Inverse kinematics solution of the machine solved by ADAMS, the control software of the robot system was written using C++ language. Continuous track motion of the parallel robot was realized. Experiment result approved the feasibility of the parallel Mechanism and the control system.更多还原