6pus-ups并联机器人控制系统开发与实验研究

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1、debuggedandrun,experimentswereperformedbasedontheactualsystem.Thebettermovingstability,bettermaneuverability,lessnoise,lowervibration,etc,areshownintheoperationoftheparallelmanipulator.Itisprovedinexperimentalresultsthattheaccuracyofpositioning,thecorrectnessofth

2、isinversemodelsandinterpositionarithmetic,thevalidityofhardwareandsoftware.KeywordsOpennumericalcontrolsystem;PMAC;6PUS-UPS;Parallelmanipulator;VisualC++万方数据目录摘要......................................................................................................

3、...............IABSTRACT.........................................................................................................II第1章绪论......................................................................................................11.1并联机器人发展概述............

4、....................................................................1 1.2并联机器人的特点和应用........................................................................4 1.2.1并联机器人的特点............................................................................4 1.2.2并联机器人的应用方

5、向....................................................................4 1.3开放式数控系统的发展现状....................................................................5 1.3.1数控系统的开放性............................................................................5 1.3.2基于PC机的开放式数控

6、系统.........................................................71.4课题研究意义和研究内容........................................................................81.4.1课题的研究意义................................................................................81.4.2课题的主要研究内容.........

7、...............................................................9第2章运动学分析与轨迹规划.......................................................................112.1机构介绍..................................................................................................112.2并联机

8、构运动控制的基本原理.............................................................12 2.36PUS-UPS并联机构的坐标系设置......................................................12 2.4末端执行