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EtherCAT bus-based control system for three-axis parallel mechanical arm

A control system and manipulator technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the inability to meet the control of three-axis parallel manipulators, and achieve real-time performance and stability, displacement accuracy, and accuracy. Effect

Pending Publication Date: 2020-03-24
GUANGDONG TECHN COLLEGE OF WATER RESOURCES & ELECTRIC ENG
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The traditional way of using PC to drive the control card, communication is the main bottleneck of equipment performance improvement, which cannot meet the control of three-axis parallel robot arm

Method used

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  • EtherCAT bus-based control system for three-axis parallel mechanical arm
  • EtherCAT bus-based control system for three-axis parallel mechanical arm
  • EtherCAT bus-based control system for three-axis parallel mechanical arm

Examples

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Embodiment Construction

[0025] In order to further illustrate the various embodiments, the present invention provides accompanying drawings, which are part of the disclosure of the present invention, and are mainly used to illustrate the embodiments, and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments, for reference Those of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0026] According to an embodiment of the present invention, an EtherCAT bus three-axis parallel manipulator control system is provided.

[0027] Now in conjunction with accompanying drawing and specific embodiment the present invention is further described, as Figure 1-5 As shown, the EtherCAT bus three-axis parallel manipulator contr...

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PUM

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Abstract

The invention discloses an EtherCAT bus-based control system for a three-axis parallel mechanical arm. The control system comprises a PC linux master station, a human-computer interaction interface, an EtherCAT controller I, an EtherCAT controller II, an input module, a storage module, a generation module, a motion controller module, a three-axis parallel mechanical arm motion module and a visualdetection system module; the PC linux master station comprises an Ethernet card; the Ethernet card is connected with the EtherCAT controller II and the human-computer interaction interface; the EtherCAT controller II is connected with the three-axis parallel mechanical arm motion module through the motion controller module; the man-machine interaction interface is connected with the input module and the EtherCAT controller I; and the EtherCAT controller I is connected with the motion controller module through the generation module. With the control system adopted, the real-time performance andstability of the control of the three-axis mechanical arm can be effectively guaranteed. The control system has the advantages of low cost and good expansibility.

Description

technical field [0001] The invention relates to the technical field of manipulator control, in particular to an EtherCAT bus three-axis parallel manipulator control system. Background technique [0002] The robotic arm is the most widely used automatic mechanical device in the field of robotics. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Although their shapes are different, they all have a common feature, that is, they can accept instructions and precisely locate a certain point in three-dimensional space for operation. [0003] With the development of industrial technology, the control of the mechanical arm puts forward higher and higher requirements for speed and precision, and puts forward high requirements for the transmission speed of the field bus used for servo motion control and the real-time performance of the bus interface. In order to ensure that the robot ac...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/18
CPCB25J9/1605B25J9/1664
Inventor 邵忠良苏景军程汉湘
Owner GUANGDONG TECHN COLLEGE OF WATER RESOURCES & ELECTRIC ENG
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