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首页> 外文会议>Thirtieth Annual Symposium on Incremental Motion Control Systems amp; Devices, Jul 23-26, 2001, Berkeley, California >MOTION CONTROL SOLUTIONS FOR THE NEXT GENERATION OF PARALLEL LINK MECHANISMS
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MOTION CONTROL SOLUTIONS FOR THE NEXT GENERATION OF PARALLEL LINK MECHANISMS

机译：下一代并联机构的运动控制解决方案

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摘要

Traditional coordinated mechanisms are constructed as a concatenated series of links. Even machines that appear to be physically parallel, such as an XY system with two parallel rails for X, are serial link mechanisms in their mathematical motion description. There is a complementary class of coordinated mechanisms described as parallel link mechanisms. In these mechanisms there is a stationary base member and a single motion output member. All of the actuators connect between the base and the output so as to be parallel in an abstract rather than geometric sense. Recent developments in stage technology have taken advantage of parallel techniques to produce elegantly simple, high performance multi-axis positioners. Parallel mechanisms are intrinsically coupled and require motion controllers with kinematic capabilities to produce Cartesian motion. Examples of several parallel mechanisms are presented along with control solution implementations that demonstrate the necessary real-time kinematic attributes required to bring the benefits of parallel mechanisms to industrial applications.
机译：传统的协调机制被构造为一系列链接。甚至看起来物理上平行的机器，例如带有两个用于X的平行导轨的XY系统，在数学运动描述中也是串行链接机制。有一类互补的协调机制，称为并行链接机制。在这些机构中，有一个固定的基座构件和一个运动输出构件。所有的执行器都连接在底座和输出之间，以便在抽象而非几何意义上平行。舞台技术的最新发展已利用并行技术来生产优雅简单，高性能的多轴定位器。并联机构本质上是耦合的，需要具有运动学功能的运动控制器才能产生笛卡尔运动。提出了几种并行机制的示例以及控制解决方案实现，这些实施方案演示了将并行机制的优点带入工业应用所需的必要的实时运动学属性。

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