Research and implementation on control technology of plane two-DOF dual-truck parallel mechanism

On the basis of the analysis of structural characteristics and kinematics characteristics of plane two-DOF dual-truck parallel mechanism including workspace, forward kinematics, inverse kinematics solution, blind area avoiding, singular position and velocity and acceleration of mechanism feature point, the main controller designed by DSP chip and the THB7128-based stepper motor drives are focused on in this paper. Besides, the control strategy and the control algorithm of the system are studied. The mathematical model of the control system is established. The selecting strategy of positive solutions and inverse solutions in the process of mechanism running as well as the singular sites strategy are made. Also a variety of trajectory planning mathematics algorithms and leap area algorithms are designed. By C# language, the host computer supervisory control software is developed which communicates with controller by CAN bus and supervises and controls the motion of plane two-DOF dual-truck parallel mechanism.