基于实时以太网的DELTA并联机械手控制系统设计.PDF

35 5 ROBOT Vol.35, No.5 2013 9 Sep., 2013 DOI 10.3724/SP.J.1218.2013.00576 DELTA 250061 DELTA EtherMAC Ethernet for Manufacture Automation Control FPGA IP DELTA DELTA EtherMAC TP242.2 A 1002-0446(2013)-05-0576-06 Control System Design of DELTA Parallel Manipulator Based on Real-time Ethernet LANG Xulin JIN Dong ZHANG Chengrui ZHANG Yue WANG Yunfei LIU Ya’nan (School of Mechanical Engineering, Shandong University, Jinan 250061, China) Abstract: To overcome the shortages of current DELTA parallel manipulator controllers in openness and expansibility, a control system design is proposed using motion control platform EtherMAC (Ethernet for Manufacture Automation Control), which is based on real-time Ethernet. In this method, synchronous real-time control is realized under standard Ethernet without special network adapter and hard real-time operation system by communication bus using slave node synchronization and clock correction technology. Furthermore, with the modular-structured slave node FPGA IP core and component-based layered software architecture, DELTA manipulator can be developed quickly to adapt to different sorting and packaging situations. According to controller response time under prototype working condition, this method is proved to meet the requirements of synchronous real-time control. Keywords: DELTA robot; real-time Ethernet; open architecture controller; EtherMAC 1 Introduction Clavel 1985 DELTA [1] 3 3 1 DELTA ABB D