Abstract
The Kinematic Redundant Hybrid Parallel Mechanism has advantages over traditional parallel mechanisms such as large motion posture angles and large working space. It can play its advantages in adaptive assembly of small parts. However, there is currently little research on the control of motion redundant mechanisms. To make this mechanism work effectively, a reliable and effective control system is essential. This paper first introduces the architecture of KRHPM, then starts with, lower industrial control computer PLC program writing, upper computer C++ program writing logic, motor selection and controller design to describe in detail the construction process of the control system, supplemented by experimental verification of its feasibility, laying the foundation for subsequent research on high-precision control.
Supported by National Natural Science Foundation of China (Grant No. 52130508).
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Zhang, Fh., Zhang, Xm., Zheng, Rd., Xie, Ty., Zhang, Jq., Li, H. (2023). Construction of Control System on Kinematic Redundant Hybrid Parallel Mechanism for Micro-assembly. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14267. Springer, Singapore. https://doi.org/10.1007/978-981-99-6483-3_10
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DOI: https://doi.org/10.1007/978-981-99-6483-3_10
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