文章摘要
吕有界,陈集辉.XY-DELTA冗余驱动机器人控制系统设计与实现[J].机床与液压,2018,46(9):1-5
XY-DELTA冗余驱动机器人控制系统设计与实现
Design and Implementation of Control System for Redundantly Actuated XY-Delta Robot
  
DOI:10.3969/j.issn.1001-3881.2018.09.001
中文关键词: XY-Delta机器人  运动控制卡  PLC  上位机软件
英文关键词: XY-Delta robot  Motion controller  PLC  Master computer’s software
基金项目:国家自然科学基金资助项目(51375095)
作者单位E-mail
吕有界 广州航海学院创新创业学院 lvyoujie123@126.com 
陈集辉 广州航海学院创新创业学院  
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中文摘要:
      为了扩大Delta机器人的工作空间,将传统的三自由度Delta机器人静平台安装在一个XY直线导轨的动平台上,组成了一种新型冗余驱动的XY-Delta机器人。其中Delta机器人与XY平台分别使用运动控制卡和PLC作为控制单元。设计并实现了一套以工控机作为上位机,运动控制卡与PLC作为下位机的分散控制系统,使XY-Delta在数学模型、机械系统、控制系统和规划算法上实现一体化。实践表明:该系统有运动速度快、精度高、工作空间大和廉价等特点。
英文摘要:
      In order to extend the Delta robot’s work space, a traditional Three Degree of Freedom (3-DOFs) Delta robot is mounted to the moving platform of a XY linear guide to form the novel redundantly actuated XY-Delta robot. Among which, motion controller and Programmable Logical Controller (PLC) were used to be the control unit by Delta robot and XY platform respectively. The distribute control system was designed and implemented with industrial computer as master computer and with motion controller and PLC as slave computer, so as to make the mathematical model, mechanical system, control system and planning algorithm integrative. Illustrated by practice, the system has these characters such as large work space, inexpensive, high speed and high precision, and etc.
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