| 球面并联机构运动学解析与控制系统研究 |
| |
| 引用本文： | 王洋,倪雁冰,黄田,张玉明.球面并联机构运动学解析与控制系统研究[J].天津大学学报(自然科学与工程技术版),2002,35(1):5-9. |
| |
| 作者姓名： | 王洋 倪雁冰 黄田 张玉明 |
| |
| 作者单位： | 天津大学机械工程学院,天津300072 |
| |
| 基金项目： | 国家“8 63”高技术发展计划 (836- 51 1 - 943- 0 0 6),国家自然科学基金 (597750 0 6),教育部博生点基金 (970 0 560 7)资助项目 |
| |
| 摘 要： | 结合基于球面并联机构的数控回转台的开发,推导出其运动学正,逆解模型的解析表达,并根据并联机构虚实映射的特点,提出在二次（粗、精）插补策略的基础上,采用“双缓存原理”,以“PMAC＋PC”为硬件平台,设计并开发了球面并联机构数控系统。该方法对各类并联机床数控系统的开发具有指导意义。
|
| 关 键 词： | 并联机构 实时插补 多轴运动控制器 数控系统 数控加工 数控回转台 传动原理 |
| 文章编号： | 0493-2137(2002)01-0005-05 |
| 修稿时间： | 2001年4月3日 |
Kinematics Models and Development of Control System of Spherical Parallel Manipulator |
| |
| WANG Yang,NI Yan bing,HUANG Tian,ZHANG Yu ming,.Kinematics Models and Development of Control System of Spherical Parallel Manipulator[J].Journal of Tianjin University(Science and Technology),2002,35(1):5-9. |
| |
| Authors: | WANG Yang NI Yan bing HUANG Tian ZHANG Yu ming |
| |
| Abstract: | This paper deals with the methodology for developing the Numerical Control System for the CNC of the parallel mechanism.The analytical representations of the forward and inverse kinematics are formulated,which lay a solid foundation of the coordinate transposition.simulation and error compensation.The algorithm which can be implememted in two steps,i.e.the rough interpolation in the Cartesian space and the precise interpolation in the actuator space is proposed.With the idea of "double buffefr theory",the CNC sortware is developed on the basis of "PC +PMAC"hardware platform.The effectiveness of this methodology has been exwmplified by the successful application to a rotapod based paralles mechanism. |
| |
| Keywords: | parallel mechanism real time interpolation programmable multi axis controller |
| 本文献已被 CNKI 维普 等数据库收录！ |
|
