【摘要】 提出了一种新型的并联机器人运动控制方案。利用SolidWorks运动仿真模块COSMOSMotion生成运动轨迹,将运动轨迹数据导出并处理成相应的机器人运动输入数据,单片机通过RS232串口与PC机通讯获得运动数据,并驱动步进电动机完成机器人的控制。该方案不需建立复杂的数学模型,就可以解决并联机器人控制系统设计,具有直观性强、运动精度高的特点。更多还原

【Abstract】 A new strategy of parallel manipulator was developed for motion control.The motion trajectory was generated by using motion simulation module COSMOSMotion of SolidWorks software.The trajectory data were then exported and processed into the corresponding input data for manipulator.The processed motion data was transmited to MCU via serial port RS232 and executed by MCU to drive the manipulator.This method can solve motion control problem for parallel manipulator without complicated calculation,which has the characteristics of strong intuitiveness and high motion accuracy.更多还原