PLC based control system of parallel kinematics mechanism

Abstract

The work on creation of a PLC based control system a mechanism with parallel kinematics has been described in the present article. A 3D model of mechanism with parallel kinematics is created in order to identify and optimize its geometrical and kimenatic parameters,the shape and size of the work zone. The dynamic characteristics of the model are defined in Simulink. The information received is the basis for developing of control system for the real model of the mechanism. A PLC based control system has been developed. It includes CX1010 controller from the series of Beckhoff, servo drives, type AX5000 and servomotors. The controlling is implemented on the basis of the built in libraries “TwinCAT Kinematic Transformation” and “TwinCAT CNC”. Thus the created model gives the opportunity for carrying out tests on the kinematics and the dynamics of mechanisms with parallel kinematics and experiments with new controlling algorithms. There are training opportunities for professionals in the field of mechanisms with parallel kinematic.