摘要
基于可视化编程语言LabVIEW,辅以NI Motion函数库,分析Delta并联机器人控制软件功能需求,构建软件结构层次。对Delta机器人的轨迹规划、回零调整、单轴与多轴调整、自动与连续运行等核心功能模块进行开发,完成了控制系统的设计。仿真和样机实验表明,所设计的Delta并联机器人软件控制系统具有优良的控制性能,能够为该型号机器人的工程应用与开发提供一定的技术支持。
It analyzed the functional requirements of Delta parallel robot control software in this study based on the visual programming LabVIEW and NI motion function library.The control system hierarchy of Delta parallel robot was established.The core function modules of Delta robot control system were developed,which consist of the trajectory planning module,zero adjustment module,single axis and multi axis adjustment module,automatic and continuous operation module.The results of simulation and prototype experiment showed that the software control system of Delta parallel robot has excellent performance,which can provide technical support for the engineering application and development of Delta robot.
作者
余亮
YU Liang(School of Mechanical and Electrical Engineering,Huainan Normal University,Huainan,232038,Anhui)
出处
《蚌埠学院学报》
2020年第5期61-65,共5页
Journal of Bengbu University
基金
淮南师范学院科学研究项目(2019XJYB08)。
