CAJ | 학술논문

为了满足并联机构复杂的运动控制需求，在进行运动学分析的基础之上，设计了一套并联机构运动控制系统。该系统采用PC机＋GALIL运动控制卡的结构形式，并提供多种机构路径输入模式。借助于运动学反解模块，机构路径被转换为运动支链位置数据，并通过上下位机通讯模块传送给运动控制卡，从而实现系统所需要的控制任务。
위료만족병련궤구복잡적운동공제수구，재진행운동학분석적기출지상，설계료일투병련궤구운동공제계통。해계통채용PC궤＋GALIL운동공제잡적결구형식，병제공다충궤구로경수입모식。차조우운동학반해모괴，궤구로경피전환위운동지련위치수거，병통과상하위궤통신모괴전송급운동공제잡，종이실현계통소수요적공제임무。
To satisfy the complicated motion control requirements of the parallel mechanism,a motion control system was de-signed on the basis of the kinematic analysis. In this control system,architecture of PC+GALIL motion control card was adopted and several modes for importing mechanism motion paths were provided. By using the inverse kinematics module,these motion paths were transformed into the lengths of kinematic chains which were sent to the motion control card through the communication module to realize the specified control task.