一种新型4-DOF串并联机器人的运动控制研究

In this paper, a new type 4-DOF series-parallel robot experimental prototype is being discussed. Its main structure is a 3-7R parallel decoupling mechanism. The configuration characteristic of 3-7R parallel mechanism is proposed in this article, which has been obtained from the movement pair-analysis, the inverse kinematics is solved and the mathematical modeling is built. With the investigation on the robot experimental prototype, the control structure of NC system has been solved; CASNUC2100 is selected as the Hardware Platform for the robot NC control system. In view of the robot’s nonlinear MIMO specific requirements, the numerical control master program has been compiled in this paper. This provide significant theory for the further study on open-NC system in the application in series-parallel robot control.