Design of A Three-DOF Redundantly Driven Parallel Robot Control System

Parallel robot has advantages of no friction and clearance, fast response, compact structure, good rigidity, and low error accumulation, but they also have many shortcomings in geometric characteristics, such as small range of motion, poor flexibility, and singularity in the workspace. Adding redundancy can improve its geometric characteristics. Parallel robots are usually controlled by dedicated controllers, without openness, high development costs, and long cycles. This paper introduces the design of an open control system for a three-DOF redundant drive robot based on PC bus, and with "PC + motion control card" as the core.