Development of an Experimental Platform for 3-DOF Planar Parallel Robots

摘要

In view of the problem of single function and insufficient extensibility of enclosed controller, the open planar 3-DOF (3-PRR) parallel robot control system of “PC+ Motion Control Card” is designed. The control software of parallel robot is written based on “Win-Form” development platform. It has the functions of initialization, single-axis motion, dual-axis motion, state monitoring and other main modules. In the end, the result show that the system has the characteristics of strong stability, high-accuracy trajectory and good openness through experimental analysis of the robot motion control, the control requirements of planar 3-PRR parallel robots under high speed, high acceleration and complex trajectory motion have realized.