基于LabVIEW的3-PRRRR移动并联机构控制系统

作者：郭大杰，沈卫平，胡 挺 日期：2010-09-08/span> 浏览：3714 查看PDF文档

基于LabVIEW的3-PRRRR移动并联机构控制系统

郭大杰，沈卫平，胡 挺

(浙江理工大学 机械与自动控制学院，浙江 杭州 310018)
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摘要：针对正交3-PRRRR移动并联机构特点，采用“PC+运动控制卡”的方案设计了正交3-PRRRR移动并联机构的控制系统。系统主要由硬件和软件两部分组成。以NI公司的LabVIEW8.5作为开发平台，通过PCI-7340四轴运动控制卡和UMI-7764多功能数据采集卡实现对机构3个自由度的驱动控制。实验结果表明控制系统能够准确地实现单轴和多轴的联动控制，包括对动平台的位置、速度和加速度等运动参数的设置。该系统软件操作方便、界面友好。
关键词：移动并联机构；LabVIEW；控制系统
中图分类号：TH112;TP242
文献标识码：A文章编号：1001-4551(2010)08-0048-04

Control system for 3-PRRRR tanslational parallel manipulator based on LabVIEW
GUO Da-jie, SHEN Wei-ping, HU Ting
(Faculty of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China)
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Abstract: Aiming at the orthogonal 3-PRRRR tanslational parallel manipulator, a PC motion controller-based control system of an orthogonal 3-PRRRR tanslational parallel manipulator was presented. The system was mainly composed of hardware and software.Using NIs LabVIEW8.5 as a development platform, the three translations of the 3-PRRRR parallel mechanism were controlled through the PCI-7340 four-axis motion controller and UMI-7764 multifunction data acquisition card. The results indicate that the control system can achieve accurate single-axis and multi-axis controls, including motion parameters of the moving platform position, velocity and acceleration, and the system has a friendly interface and is easy to use.
Key words: translational parallel manipulator; LabVIEW; control system