并联机器人末端轨迹测量系统设计

针对机器人末端轨迹检测问题，提出了一种基于拉线传感器的并联机器人末端轨迹追踪系统。该方案采用拉线式位移传感器与角度传感器作为数据采集端，经数据采集卡传递给计算机进行数据处理，实现末端轨迹测量。最后，设计试验样机并基于 Ｃ＃ ＷｉｎＦｏｒｍ 模块编写数据处理模块，从而实现仿真结果与实际相互印证的目标。

Design of End Track Measurement System of Parallel Robot

An end tracking system of parallel robot based on pull wire sensor was proposed to solve the problem of robot end track detection. In this scheme, the pull-type displacement sensor and angle sensor were used as the data acquisition end. The data was processed by computer, which was transferred from the data acquisition card to fulfill the end track measurements. Lastly, the experimental prototype was designed and the data module was processed based on the C# WinForm module so as to verify the coherence between the simulation results and the actual application.