CN205255005U - Based on 3 -TPS series -parallel connection robot control system - Google Patents
Based on 3 -TPS series -parallel connection robot control system Download PDFInfo
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- CN205255005U CN205255005U CN201520911574.4U CN201520911574U CN205255005U CN 205255005 U CN205255005 U CN 205255005U CN 201520911574 U CN201520911574 U CN 201520911574U CN 205255005 U CN205255005 U CN 205255005U
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- electrically connected
- expansion board
- control system
- series
- parallel connection
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Abstract
The utility model discloses a based on 3 -TPS series -parallel connection robot control system, including the PC, and the controller and an axle expansion board is connected with the PC electricity, and four -channel switching interface board and 32 multiplexing port expansion board of input of being connected with the controller electricity, and with electric the 2nd four -channel who is connected of the axle expansion board interface board of transferring, reach with 32 import the electric multiplexing port expansion board of being connected of 32 bit outputs of multiplexing port expansion board. The utility model discloses a based on 3 -TPS series -parallel connection robot control system establishs the contrary mathematic model that separates in series -parallel connection robot kinematics position, is founing based on on the 3 -TPS series -parallel connection robot numerical control system hardware platform basis, separates mathematic model and converts position motion control algorithm into the kinematics of this robot is contrary to spiral orbit experimental verification has carried out on the sphere.
Description
Technical field
The present invention relates to a kind of robot control system, be specifically related to one based on 3-TPS series-parallel robot control system, belong to smart electronics product technical field.
Background technology
Series-parallel robot is at modern cnc technology, machine tool technology, a kind of high accuracy occurring on the basis of Robotics and advanced manufacturing technology development, modernization process technology high-speed and high rigidity is equipped, there is compact conformation, bearing capacity is large, rigidity is large, precision is high, working space scope is wide, dynamic characteristic is good, degree of modularity high, therefore there is application prospect very widely, available technology adopting circular interpolation method has been carried out discretization processing to the desired motion track of this series-parallel robot instrument programmed point, set up Inverse Kinematics Solution model and solved the increment in each joint, realize the motion control of pose, but it is simple in structure for 3-TPS series-parallel connection machine, control but very complicated, existing kinetic control system can not meet device control requirement.
Summary of the invention
(1) technical problem that will solve
For addressing the above problem, the present invention proposes a kind of based on 3-TPS series-parallel robot control system, set up series-parallel robot inverse Mathematical Modeling, on building based on 3-TPS series-parallel robot Computerized Numerical Control system hardware platform base, the Inverse Kinematics Solution Mathematical Modeling of this robot is converted to position motion control arithmetic, and has carried out helical trajectory experimental verification on sphere.
(2) technical scheme
Of the present invention based on 3-TPS series-parallel robot control system, comprise PC, and the controller being electrically connected with PC and axle expansion board, and the first four-way transfer interface board being electrically connected with controller and 32 input multiplexing port expansion board, and the second four-way transfer interface board being electrically connected with axle expansion board, and 32 output multiplexing port expansion board that are electrically connected with 32 input multiplexing port expansion board, and first to fourth servo-driver being electrically connected with the first four-way transfer interface board, and the 5th servomotor being electrically connected with the second four-way transfer interface board, and the right drive rod servomotor being electrically connected with the first servo-driver, and the left drive rod servomotor being electrically connected with the second servo-driver, and the lower drive rod servomotor being electrically connected with the 3rd servo-driver, and the oblique yaw servomotor being electrically connected with the 4th servo-driver, and the workbench servomotor being electrically connected with the 5th servo-driver.
Further, described controller is Clipper controller.
(3) beneficial effect
Compared with prior art, of the present invention based on 3-TPS series-parallel robot control system, set up series-parallel robot inverse Mathematical Modeling, on building based on 3-TPS series-parallel robot Computerized Numerical Control system hardware platform base, the Inverse Kinematics Solution Mathematical Modeling of this robot is converted to position motion control arithmetic, and has carried out helical trajectory experimental verification on sphere.
Brief description of the drawings
Fig. 1 is overall structure schematic block diagram of the present invention.
Detailed description of the invention
One is as shown in Figure 1 based on 3-TPS series-parallel robot control system, comprise PC 1, and the controller 2 and the axle expansion board 3 that are electrically connected with PC 1, and 5 and 32 input multiplexing port expansion board 4 of the first four-way transfer interface board being electrically connected with controller 2, and the second four-way transfer interface board 6 being electrically connected with axle expansion board 3, and 32 output multiplexing port expansion board 7 that are electrically connected with 32 input multiplexing port expansion board 4, and first to fourth servo-driver 8 ~ 11 being electrically connected with the first four-way transfer interface board 5, and the 5th servomotor 12 being electrically connected with the second four-way transfer interface board 6, and the right drive rod servomotor 13 being electrically connected with the first servo-driver 8, and the left drive rod servomotor 14 being electrically connected with the second servo-driver 9, and the lower drive rod servomotor 15 being electrically connected with the 3rd servo-driver 10, and the oblique yaw servomotor 16 being electrically connected with the 4th servo-driver 11, and the workbench servomotor 17 being electrically connected with the 5th servo-driver 11.
Wherein, described controller 2 is Clipper controller.
Embodiment recited above is described the preferred embodiment of the present invention, not the spirit and scope of the present invention is limited. Do not departing under the prerequisite of design concept of the present invention; various modification and improvement that this area ordinary person makes technical scheme of the present invention; all should drop into protection scope of the present invention, the technology contents of request protection of the present invention, has all been documented in claims.
Claims (2)
1. one kind based on 3-TPS series-parallel robot control system, it is characterized in that: comprise PC, and the controller being electrically connected with PC and axle expansion board, and the first four-way transfer interface board being electrically connected with controller and 32 input multiplexing port expansion board, and the second four-way transfer interface board being electrically connected with axle expansion board, and 32 output multiplexing port expansion board that are electrically connected with 32 input multiplexing port expansion board, and first to fourth servo-driver being electrically connected with the first four-way transfer interface board, and the 5th servomotor being electrically connected with the second four-way transfer interface board, and the right drive rod servomotor being electrically connected with the first servo-driver, and the left drive rod servomotor being electrically connected with the second servo-driver, and the lower drive rod servomotor being electrically connected with the 3rd servo-driver, and the oblique yaw servomotor being electrically connected with the 4th servo-driver, and the workbench servomotor being electrically connected with the 5th servo-driver.
2. according to claim 1 based on 3-TPS series-parallel robot control system, it is characterized in that: described controller is Clipper controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520911574.4U CN205255005U (en) | 2015-11-16 | 2015-11-16 | Based on 3 -TPS series -parallel connection robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520911574.4U CN205255005U (en) | 2015-11-16 | 2015-11-16 | Based on 3 -TPS series -parallel connection robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205255005U true CN205255005U (en) | 2016-05-25 |
Family
ID=55996555
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520911574.4U Expired - Fee Related CN205255005U (en) | 2015-11-16 | 2015-11-16 | Based on 3 -TPS series -parallel connection robot control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205255005U (en) |
-
2015
- 2015-11-16 CN CN201520911574.4U patent/CN205255005U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160525 Termination date: 20161116 |