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研究了并联机构的插补控制方法,用逐点比较法对5R堆垛机构的直线轨迹插补算法进行研究,偏差判别公式用给定起点和终点的直线来表示,结合5R机构运动学分析,以插补脉冲总个数作为终点判别依据,给出了算例和插补程序流程图。
The interpolation control method of parallel mechanism is studied. The linear interpolation algorithm of 5R stacking mechanism is studied by point-by-point comparison method. The deviation discriminant formula is expressed by a straight line with given start point and end point. Combined with the kinematics analysis of 5R mechanism, Taking the total number of interpolation pulses as the judgment basis, the flow chart of calculation example and interpolation program is given.