The Design and Realization of a Novel 2-HRR Parallel Manipulator and Its NC System

A new type two-pole and two-DOF parallel manipulator has been set up. It has many advantages, for example simple movement modeling, easy to positive and negative calculation, big work space, simple structure, adopted control and so on. This paper mainly study parallel test bed kinematics analysis. According to characteristic of parallel mechanism, the CNC system with open modular architecture has been set up. The CNC hardware system is developed on the basis of "PC+GT-400-SG", and the software is developed on the basis of "Visual C++". So the deviser can set up system with different module such as building block. Based on these, the prototype of parallel test bed proposed in this paper has been manufactured. The correct control method and model have been achieved through the on-line manufacturing experi- ments, which verify the reasonableness of the structure and the correctness of the NC platform.