earticle

영어

Aiming at the problem that the fixed working envelope can not always satisfy the study and experiment requirements, the study has developed a 5-DOF series-parallel robot with an adjustable working envelope based on the 3-PRS mechanism. The robot system is composed of an electric hardware subsystem, a mechanical subsystem and a control system subsystem. The architecture of the robot is introduced firstly. The key components and parts of the electric hardware and mechanical component are presented secondly. The robot system adopts the open architecture mode based on the computer and the motion controller, which provides sufficient convenience for experiments at different levels. Then the control software design method is presented. And many high-level programming languages and Integrated Development Environments can be used separately or together, and even other engineering software packages can be made full use of. Finally, an experiment is presented to verify the developed robot prototype, and that shows its correctness, reliability and convenience.