CAJ | 학술논문

针对康尼公司设计的3自由度Delta型并联机器人机械本体样机，提出了一种基于PC机和运动控制卡的控制系统设计方案；在Windows操作系统下，基于PCI1040运动控制卡和Visual C++6.0软件，开发了3自由度Delta型并联机器人控制系统平台。通过编写实验程序对机器人进行了试运行，实验结果证实了该控制系统满足稳定性、准确性和简单易操作要求。
침대강니공사설계적3자유도Delta형병련궤기인궤계본체양궤，제출료일충기우PC궤화운동공제잡적공제계통설계방안；재Windows조작계통하，기우PCI1040운동공제잡화Visual C++6.0연건，개발료3자유도Delta형병련궤기인공제계통평태。통과편사실험정서대궤기인진행료시운행，실험결과증실료해공제계통만족은정성、준학성화간단역조작요구。
According to the 3-DOF delta parallel robot prototype developed by KNT company, the design scheme of the control system based on PC and movement control card is proposed. Under the Windows op-erating system, the control system platform is developed based on PCI 1040 movement control card and Vis-ual C++ 6. 0 software By writing the test program to debug the robot, the experiment results verify the con-trol system meets the requirements of stability, accuracy and easy operation.