SACR - a software for simulation and control of the parallel robot PR6-01

摘要

The paper introduces the SACR software program (Simulation And Control of Robots), developed by the Mechatronics Department, Institute of Mechanics, is used to simulate and control robots. The SACR program allows the users to operate fully a control process of robot: trajectory planning, kinematic and dynamic analysis, checking critical parameters of actuators and robot control. The robot model displayed on the computer is generated directly from accuracy AutoCAD drawings. The SACR program has a user-friendly interface for users to import the data of trajectories of robot in different ways (expressions, numeric tables, files...). In addition, users may analyze directly by motion equations of robot or link to other simulation software as alaska, ADAMS, NEWEUL... Thenceforth, robots are controlled by parameters transferred from SACR software to the robot controller. The SACR program version 1.0 has been applied to the parallel robot (Hexapod) PR6-01, a product of the Mechatronics Department, Institute of Mechanics. Hexapod PR6-01 will be used as a clamping table applying to conventional machine-tools in Vietnam to expand fabricating capacities.