平面3-RRR并联定位平台运动学分析及控制系统设计∗

摘要

A planar 3-RRR parallel positioning platform which can be used for precision operation was de-signed. The kinematic analysis of the platform was presented, and the loop-locked control system of the platform was designed by the LABVIEW and MATLAB. According to the design of the parallel positioning platform and the control system, the experimental system was conduct. The experimental result indicates that the designed control system can meet the requirements of the motion control and the precision can approach to 0. 05mm. The design and analysis of the parallel positioning platform is meaningful for the dynamic anal-ysis and control of the platform in the future.%设计了一种可用于精密操作的平面3-RRR并联定位平台，对并联定位平台进行运动学分析，基于LABVIEW和MATLAB设计了平台的闭环控制系统。根据设计的并联定位平台结构，加工出实物平台，搭建了实验硬件系统，编写了软件控制程序，对运动分析结果及控制系统进行实验验证。实验结果表明，所设计的控制系统可以实现对平面3-RRR并联定位平台的运动控制，运动控制精度能够达到0.05 mm。设计的并联定位平台及分析结果，可为后续精密定位平台的设计及动力学分析提供指导。