球面并联机构实时控制系统的开发

摘要

紧密结合基于球面并联机构的数控回转台的开发，以“ PMAC＋ PC”为硬件平台，开发了球面并联机构实时控制系统。根据并联机构虚实映射的特点，提出在 2次 (粗、精 )插补策略的基础上，采用“双缓存原理”设计并开发其实时操作系统。该方法具有一定的通用性，对各类并联机床数控系统的开发具有指导意义。%This paper deals with the methodology for developing the Numerical Control System for the CNC of the parallel mechanism. The algorithm which can be implemented by two steps, i.e. the rough interpolation in the Cartesian space and the precise interpolation in the actuator space. With the idea of “ double buffer theory", the CNC software is developed on the basis of “ PC＋ PMAC” hardware platform. The effectiveness of this methodology has been exemplified by the successful application to a rotapod－ base parallel mechanism.