大型刚体调姿实验平台手轮功能的实现

作者：扈慧强，李江雄* 日期：2010-06-28/span> 浏览：2970 查看PDF文档

大型刚体调姿实验平台手轮功能的实现
扈慧强，李江雄*
（浙江大学 现代制造工程研究所，浙江 杭州 310027）

摘要：针对一种六自由度并联机构大型刚体调姿实验平台中手轮功能的开发难题，提出了建立手持单元与控制系统工作站之间串口通信的方法，开发出了手持单元的人机交互功能，实现了现场所有定位器单个驱动轴的速度控制和多定位器驱动轴协同运动控制，完成了刚体位姿变化。该方法已成功应用于大型刚体调姿实验平台控制系统。研究结果表明该方法有很好的工程应用价值，对并联机床手轮功能的开发也有一定的参考价值。
关键词：并联机构；手轮功能；串口通信
中图分类号：TH137文献标识码：A文章编号：1001-4551(2010)04-0012-04

Development of handwheel function of attitude adjustment system

HU Huiqiang, LI Jiangxiong
（Institute of Modern Manufacturing Engineering, Zhejiang University, Hangzhou 310027, China）

Abstract: Aiming at the difficulties of handwheel function development in larger rigid body attitude adjustment system, the method setting up the serial communication between handwheel and computer was given. The manmachine interactive function of handwheel was developped. All the location devices singleaxe motion control and multiaxis cooperative motion control which were used in attitude adjustment was finally accomplished. The method has been applied to the parallel attitude adjustment system. The results indicate that the method is of certain value for engineering application. And it has some reference value to the handwheel development of parallel machine tools.
Key words: parallel; handwheel; serial communication