Study on CNC System of Parallel Mechanism

2010 ◽  
Vol 37-38 ◽  
pp. 1273-1277
Author(s):  
Xue Yong Zhong ◽  
Yan Bing Ni ◽  
Pan Feng Wang ◽  
Zhi Yong Yang
Keyword(s):  
Virtual Instrument ◽  
Parallel Mechanism ◽  
High Speed ◽  
High Performance ◽  
Functional Module ◽  
Numerical Control ◽  
Open Architecture ◽  
Parallel Mechanisms ◽  
Cnc System ◽  
And Control

In this paper, the open architecture technique is used to develop the computer numerical control (CNC) system of parallel mechanism. The personal computer (PC) with high-performance motion control card Flex-6C and virtual instrument software package are utilized as the hardware and software platforms, respectively. The interface between motion controller and servo system is designed, and the core functional module and control software is programmed. Further it is successfully applied in a series of parallel mechanisms, which serves as the foundation for achieving the high-speed and high-precision control of such kinds of parallel mechanism.

FPGA-Based Intelligent Software Hardening Chip for Computer Numerical Control System

2011 ◽  
Vol 105-107 ◽  
pp. 2217-2220
Author(s):  
Mu Lan Wang ◽  
Jian Min Zuo ◽  
Kun Liu ◽  
Xing Hua Zhu
Keyword(s):  
High Speed ◽  
High Performance ◽  
Large Scale ◽  
Position Control ◽  
Computer Numerical Control ◽  
Numerical Control ◽  
Cnc Machine Tools ◽  
Cnc Machine ◽  
Cnc System ◽  
Intelligent Software

In order to meet the development demands for high-speed and high-precision of Computer Numerical Control (CNC) machine tools, the equipped CNC systems begin to employ the technical route of software hardening. Making full use of the advanced performance of Large Scale Integrated Circuits (LSIC), this paper puts forward using Field Programmable Gates Array (FPGA) for the functional modules of CNC system, which is called Intelligent Software Hardening Chip (ISHC). The CNC system architecture with high performance is constructed based on the open system thought and ISHCs. The corresponding programs can be designed with Very high speed integrate circuit Hardware Description Language (VHDL) and downloaded into the FPGA. These hardening modules, including the arithmetic module, contour interpolation module, position control module and so on, demonstrate that the proposed schemes are reasonable and feasibility.

Research on New Architecture for Open CNC System Based on Linux

2008 ◽  
Vol 392-394 ◽  
pp. 482-486
Author(s):  
Q.X. Huang ◽  
Shu Wen Lin
Keyword(s):  
Real Time ◽  
High Speed ◽  
High Performance ◽  
Movement Control ◽  
Open Architecture ◽  
Cnc System ◽  
Running Speed ◽  
Time Performance ◽  
Hardware Interface ◽  
Open Cnc System

In accordance with slow running speed in present soft CNC system, which is difficult to be adapted to machining with mass of data at high speed, an open architecture of soft CNC system with high performance is presented, which is based on PC+I/O hardware interface and satisfies the requirement of real time performance in data transmission by use of the fifos of RTAI, of which modules are redundantly designed to make its functions reconstructable, extensible and open by use of the routing technology of soft switch. In this system, functions of fine interpolation and movement control, a small portion of CNC system’s functions, are performed by the designed simple I/O hardware interface. It is expected to greatly improve the real-time performance and satisfy the requirement of high running speed in CNC system.

Optimal Simultaneous Kinematic, Dynamic and Control Design of High Performance Manipulators Based on Trajectory Pattern Method

1998 ◽  
Author(s):  
J. Rastegar ◽  
L. Liu ◽  
M. Mattice
Keyword(s):  
High Speed ◽  
High Performance ◽  
Optimality Criterion ◽  
Control Design ◽  
Tracking Errors ◽  
Motion Patterns ◽  
Trajectory Pattern ◽  
And Control ◽  
Velocity Tracking ◽  
Trajectory Pattern Method

Abstract An optimal simultaneous kinematic, dynamic and control design approach is proposed for high performance computer controlled machines such as robot manipulators. The approach is based on the Trajectory Pattern Method (TPM) and a fundamentally new design philosophy that such machines in general and ultra-high performance machines in particular must only be designed to perform a class or classes of motions effectively. In the proposed approach, given the structure of the manipulator, its kinematic, dynamic and control parameters are optimized simultaneously with the parameters that describe the selected trajectory pattern. In the example presented in this paper, a weighted sum of the norms of the higher harmonics appearing in the actuating torques and the integral of the position and velocity tracking errors are used to form the optimality criterion. The selected optimality criterion should yield a system that is optimally designed to accurately follow the specified trajectory at high speed. Other objective functions can be readily formulated to synthesize systems for optimal performance. The potentials of the developed method and its implementation for generally defined motion patterns are discussed.

Real-Time Validation and Control Environment for Parallel Robot Control Design

2011 ◽  
Author(s):  
A. Zubizarreta ◽  
E. Portillo ◽  
I. Cabanes ◽  
M. Marcos ◽  
Ch. Pinto
Keyword(s):  
High Speed ◽  
High Performance ◽  
Experimental Testing ◽  
Control Design ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Full Potential ◽  
Control Environment ◽  
High Level ◽  
And Control

Due to their high performance when executing high-speed and accurate tasks, parallel robots have became the focus of many researchers and companies. However, exploiting the full potential of these robots requires a correct mechatronic design, in which the designed mechanism has to be controlled by a suitable control law in order to achieve the maximum performance. In this paper a novel Validation and Control Environment (VALIDBOT) is proposed as a support for the control design and experimental testing stages of these robots. The proposed open and flexible environment is designed to meet rapid prototyping requirements, offering a high level framework for both students and researchers. The capabilities of the environment are illustrated with an application case based on a 5R parallel robot prototype in which a modified CTC controller is tested.

Design and Control of Planar Parallel Mechanisms with High Speed and High Precision

2006 ◽  
Vol 315-316 ◽  
pp. 872-0
Author(s):  
L.N. Sun ◽  
Y.J. Liu ◽  
J. Li ◽  
J. Cui
Keyword(s):  
High Precision ◽  
Disturbance Observer ◽  
High Speed ◽  
Optimization Design ◽  
Advanced Manufacturing ◽  
Parallel Mechanisms ◽  
Direct Drive ◽  
End Effector ◽  
Load Disturbance ◽  
And Control

In order to satisfy the requirement of advanced manufacturing equipments with high speed and high precision, two planar parallel mechanisms have been developed. Based on these mechanisms, firstly, in consideration with the velocity and the precision of the end-effector together, the dimension optimization design is performed based on conditioning index and the precision characteristics. Then a disturbance observer is designed for the purpose of restraining load disturbance in the direct-drive system, and the experimental results show that load disturbance can be effectively restrained by the disturbance observer.

An Open Architecture Control System for Parallel Kinematic Machines Based on Multi-DSP Parallel Procession

2008 ◽  
Vol 392-394 ◽  
pp. 667-671
Author(s):  
Hui Wang ◽  
Y.B. Ni ◽  
K. Li
Keyword(s):  
Control System ◽  
High Speed ◽  
High Performance ◽  
Sampling Period ◽  
Open Architecture ◽  
Accuracy Control ◽  
Communication Interface ◽  
Parallel Kinematic Machines ◽  
Parallel Kinematic ◽  
Dsp Processors

Because of the control complexity of the Parallel Kinematic Machines (PKMs), such mechanisms may suffer from lack of accuracy at high speed. Unfortunately, conventional motion controllers have very limited flexibility because they are designed for Cartesian coordinates. Therefore, the motion control system for PKMs with both high performance and open architecture is urgently demanded. In this paper, an open architecture control system for PKMs based on multi-DSP parallel procession is presented. Then, the hierarchical distributed control strategy is discussed in details. In addition, the realization of an interactive communication interface among DSP processors is presented. According to the testing results, the developed system is capable of obtaining an interpolation sampling period at least 3 times faster than that could be offered by most controllers based on single-DSP, thus it is available for high-speed and high-accuracy control of PKMs.

scholarly journals Configuring a new educational machine tool based on hybrid kinematic mechanism

Tehnika ◽  
2021 ◽  
Vol 76 (5) ◽  
pp. 603-612
Author(s):  
Slobodan Tabaković ◽  
Saša Živanović ◽  
Milan Zeljković ◽  
Zoran Dimić
Keyword(s):  
Parallel Mechanism ◽  
Program Verification ◽  
Open Architecture ◽  
Programming System ◽  
Hybrid Mechanism ◽  
Axis Parallel ◽  
Cad Cam ◽  
And Control ◽  
Kinematic Mechanism ◽  
Hybrid Kinematics

The paper shows the configuration of a new educational machine based on hybrid kinematics mechanism. The concept of a three-axis O-X hybrid mechanism is described, consisting of a single serial translational axis and a two-axis parallel mechanism that can operate in two variants, with extended form O and crossed form X-joints of the parallel mechanism. The virtual prototype of the machine was configured in a CAD/CAM environment, where simulations of the mechanism's operation were performed. A programming system for machine has been prepared that also enables program verification. An open architecture control system based on the LinuxCNC platform has been configured for control of the machine. The trial work of the machine was performed in order to verify the realized prototype and control.

Dynamic Analysis and Control Research of a 3-DOF Hydraulic Driven Parallel Mechanism

2020 ◽  
Vol 13 (2) ◽  
pp. 156-170
Author(s):  
Bing Zhang ◽  
Saike Jiang ◽  
Ziliang Jiang ◽  
Jiandong Li ◽  
Kehong Zhou ◽  
...  
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Control Strategy ◽  
Parallel Mechanism ◽  
Control Method ◽  
Simulation Method ◽  
Euler Method ◽  
Parallel Mechanisms ◽  
Rigid Body Dynamic ◽  
And Control

Background: The parallel mechanism is widely used in motion simulators, parallel machine tools, medical equipment and other fields. It has advantages of high rigidity, stable structure and high carrying capacity. However, the control strategy and control method are difficult to study because of the complexity of the parallel mechanism system. Objective: The purpose of this paper was to verify the dynamic model of a hydraulic driven 3-DOF parallel mechanism and propose a compound control strategy to broaden the bandwidth of the control system. Methods: The single rigid body dynamic model of the parallel mechanism was established by the Newton Euler method. The feed forward control strategy based on joint space control with inverse kinematic was designed to improve the bandwidth and control precision. The co-simulation method based on MATLAB / SIMULINK and ADAMS was adopted to verify the dynamics and control strategy. Results: The bandwidth of each degree of freedom in the 3-DOF parallel mechanism was used to expand about 10Hz and the amplitude error was controlled below 5%. Conclusion: Based on the designed dynamic model and composite control strategy, the controlled accuracy of the parallel mechanism is improved and the bandwidth of the control system is broadened. Furthermore, the improvements can be made in aspects of control accuracy and real-time performance to compose more patents on parallel mechanisms.

Trajectory Pattern Based Simultaneous Kinematic and Dynamic Optimal Design of High Speed Manipulators

1996 ◽  
Author(s):  
M. Tai ◽  
J. Rastegar
Keyword(s):  
Optimal Design ◽  
High Speed ◽  
High Performance ◽  
Current Approach ◽  
Operating Conditions ◽  
Control Problems ◽  
Structure And Motion ◽  
Design Variables ◽  
Trajectory Pattern ◽  
And Control

Abstract An integrated structure and motion pattern specific design approach is proposed for optimal design of high speed and accuracy computer controlled machines including robots. The approach is based on the Trajectory Pattern Method (TPM). The current approach to the design of such machines is to assume that the machine will be required to perform more or less any arbitrary and often unrealistic tasks. This assumption nearly always leads to designs based on the worst operating conditions. The proposed trajectory pattern based design methodology presented in this paper stems from a fundamentally new design philosophy. The philosophy behind the proposed approach is that machines in general and ultra-high performance machines in particular must only be designed to perform a class or classes of motions effectively. And that trajectory patterns, i.e., classes of parametric trajectories, exist with which high speed motions can be synthesized with minimal ensuing vibration and control problems. In the proposed approach, given the kinematic structure of the machine, its kinematic and dynamic parameters are optimized simultaneously with the parameters that describe a selected trajectory pattern. The controller parameters may also be included as design variables. In the present study, the optimality criterion employed is based on minimizing the higher harmonic portion of the actuating forces (torques) required for performing the selected class(es) of motion patterns. Trajectories that do not demand high frequency actuating torque harmonics are desirable since they reduce vibration and control problems in high performance systems and reduce settling time. Examples of the application of the proposed approach are presented.

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