Development of motion control system of steel band parallel robot with six degree of freedom

AI Qinglin, HUANG Weifeng, ZU Shunjiang, SHU Jian
(The Key Laboratory of Special Purpose Equipment and Advanced Processing Technology
(Zhejiang University of Technology), Ministry of Education, Hangzhou 310014， China)

Abstract: It is very important to design motion control system for steel band driven parallel robot. The design idea to the motion control system of the steel band driven parallel robot was presented. The working principle and function of the motion control system was introduced. The performance, hardware structure and the user application component of the SPiiPlus PCILT6 motion control card were illustrated. Aiming at the kinematic control problem to inverse position solution for steel band driven parallel robot, the inverse solving diagram of ACSPL and programm code were presented. The key technology problems of motion control of steel band driven parallel robot were analyzed and the corresponding solutions were pointed out. The research result shows that the motion control system can satisfy with condition of precise and rapid movement for steel band driven parallel robot.
Key words: steel band driven parallel robot; control system; motion control card