TY - GEN
T1 - Research and implementation on control technology of plane two-DOF dual-truck parallel mechanism
AU - Shuwen, Sun
AU - Na, Wu
AU - Gang, Zheng
AU - Xinhua, Wang
AU - Huanxiong, Xia
PY - 2011
Y1 - 2011
N2 - On the basis of the analysis of structural characteristics and kinematics characteristics of plane two-DOF dual-truck parallel mechanism including workspace, forward kinematics, inverse kinematics solution, blind area avoiding, singular position and velocity and acceleration of mechanism feature point, the main controller designed by DSP chip and the THB7128-based stepper motor drives are focused on in this paper. Besides, the control strategy and the control algorithm of the system are studied. The mathematical model of the control system is established. The selecting strategy of positive solutions and inverse solutions in the process of mechanism running as well as the singular sites strategy are made. Also a variety of trajectory planning mathematics algorithms and leap area algorithms are designed. By C# language, the host computer supervisory control software is developed which communicates with controller by CAN bus and supervises and controls the motion of plane two-DOF dual-truck parallel mechanism.
AB - On the basis of the analysis of structural characteristics and kinematics characteristics of plane two-DOF dual-truck parallel mechanism including workspace, forward kinematics, inverse kinematics solution, blind area avoiding, singular position and velocity and acceleration of mechanism feature point, the main controller designed by DSP chip and the THB7128-based stepper motor drives are focused on in this paper. Besides, the control strategy and the control algorithm of the system are studied. The mathematical model of the control system is established. The selecting strategy of positive solutions and inverse solutions in the process of mechanism running as well as the singular sites strategy are made. Also a variety of trajectory planning mathematics algorithms and leap area algorithms are designed. By C# language, the host computer supervisory control software is developed which communicates with controller by CAN bus and supervises and controls the motion of plane two-DOF dual-truck parallel mechanism.
KW - CAN bus
KW - control strategy
KW - dual-truck parallel mechanism
KW - Trajectory Planning
UR - http://www.scopus.com/inward/record.url?scp=81055126990&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2011.5986363
DO - 10.1109/ICMA.2011.5986363
M3 - Conference contribution
AN - SCOPUS:81055126990
SN - 9781424481149
T3 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
SP - 1682
EP - 1687
BT - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
T2 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Y2 - 7 August 2011 through 10 August 2011
ER -