MODELLING AND CONTROL OF PKM IN AN INTEGRATED ENVIRONMENT

摘要

This paper introduces an integrated validation system that consists of the following modular components: kinematic/ dynamic analysis module, kinetostatic model, CAD module, FEM module, CAM module, optimization module and visual environment for remote control. In this paper, authors focus mainly on the modules of kinetostatic modeling, dynamic modeling. PKM design optimization, and remote control realization. The prototype of a 3-dof PKM developed at NRC-1MT1 is used as an example throughout this paper.