摘要:并联机构具有惯距小、刚度大、运动精确、结构紧凑，承载量大的特点，在工业生产中有非常广阔的应用前景，但并联机构是一类高非线性和强耦合性的运动机构，采用传统线性控制方式对并联机构进行控制效果并不尽如人意，而市场上缺少能对并联机构进行高效率控制的通用控制系统，有鉴于此，本文研究了一种以并联机构为主的电泳涂装输送机构的控制系统。

本文以一种电泳涂装输送机构为研究对象，着重对其控制系统进行设计。首先本文介绍几种目前广泛使用的电泳涂装生产设备，随后阐述并联机器人的历史由来和发展现状。在此基础上介绍本文着重研究的并联式电泳涂装设备，解析该设备的结构和工作原理，并对其升降翻转机构进行运动学分析。然后依照运动学控制的目标，采用“上位机PC+下位机UMAC”的分布式结构，进行控制系统硬件平台的结构设计和硬件选型，最后在控制系统硬件平台的基础上使用Pewin32Pro2、VS2017、MFC等开发环境进行控制系统软件层面的开发。

关键词：汽车电泳涂装输送，并联机构，运动学，分布式控制系统

Abstract:The parallel mechanism has the characteristics of small inertia, high rigidity, precise movement, compact structure and large carrying capacity. It has a very wide application prospect in industrial production, but the parallel mechanism is a kind of high non-linear and strong coupling mechanism, In this paper, we study the effect of the parallel control system on the parallel control mechanism, which is based on the traditional linear control method. The control system is not satisfactory, and the general control system which can control the parallel mechanism in the market is lacking. In this paper, Mechanism of the auxiliary electrophoresis coating conveyor mechanism control system.

 In this paper, an electrophoretic coating conveyor mechanism for the study, focusing on its control system design. First of all, this paper introduces several widely used electrophoretic coating production equipment, and then describes the history of parallel robot and the development of the status quo. On this basis, this paper introduces the parallel electrophoretic coating equipment, analyzes the structure and working principle of the equipment, and carries on the kinematics analysis to its lifting and turning mechanism. Then, according to the goal of kinematic control, the structure design and hardware selection of the hardware platform of the control system are carried out by using the distributed structure of "Host computerPC + lower machine UMAC". Finally, on the basis of the hardware platform of the control system, Pewin32 Pro2, VS2017, MFC and other development environment for the control system software development.

Key words: automobile electrophoretic coating transportation, parallel mechanism, kinematics, distributed control system

目录

第一章绪论 1

1.1电泳涂装输送设备概述 1

1.2并联机构发展及研究现状 4

1.2.1并联机构概述 4

1.2.2并联机构国内外研究现状 5

1.3本文的主要研究内容及目的意义 6

1.3.1本文的主要研究内容 6

1.3.2本文的主要研究目的和意义 7

1.4本章小结 7

第二章电泳涂装输送机构运动学分析 8

2.1引言 8

2.2电泳涂装输送机构简介