銆愭憳瑕併€戞湰鏂囦粙绱逛簡鑷洪仈(d谩)鏈€鏂版帹鍑虹殑鍩轰簬楂橀€熼亱(y霉n)鍕�(d貌ng)绺界窔鐨勬(j墨)姊版墜鏁撮珨瑙ｆ焙鏂规锛岃┎鏂规宸茬稉(j墨ng)鎳�(y墨ng)鐢ㄥ湪姗�(j墨)搴婁笂涓嬫枡鍗�(xi茅)浣滈牁(l菒ng)鍩�锛屽苟閰嶅悎CNC瀵�(sh铆)鐝�(xi脿n)鍏ㄨ嚜鍕�(d貌ng)鍔犲伐鐨勭劇绺€ｆ帴銆�
銆怉bstract銆慣his paper introduces Delta's new solution of manipulator based on high speed bus, this solution has been used in loading and unloading of machine tools, and realizes the seamless connection of automatic processing cooperating with CNC.
銆愰棞(gu膩n)閸靛瓧銆戠洿瑙掑潗妯�(bi膩o)绯绘(j墨)姊版墜锛涘垎甯冨紡鎺у埗锛涢亱(y霉n)鍕�(d貌ng)绺界窔锛涘杌搁亱(y霉n)鍕�(d貌ng)鎺у埗
銆怟eywords銆憆ectangular coordinate system manipulator; distributed control; motion Bus; multi axis motion control

1  鍓嶈█
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2  姗�(j墨)姊拌ō(sh猫)瑷�(j矛)鍜屽嫊(d貌ng)浣滆姹�
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鍦�1 姗�(j墨)搴婁笂涓嬫枡鎼亱(y霉n)姗�(j墨)姊版墜

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4  鍩轰簬鑷洪仈(d谩)楂橀€熼亱(y霉n)鍕�(d貌ng)绺界窔鐨勬(j墨)姊版墜鏁撮珨瑙ｆ焙鏂规
4.1鎺у埗鏋舵(g貌u)鐨勫壍(chu脿ng)鏂�
      鍦ㄥ偝绲�(t菕ng)鐨勯亱(y霉n)鍕�(d貌ng)鎺у埗鏋舵(g貌u)涓�锛岄亱(y霉n)鍕�(d貌ng)鎺у埗寰€寰€渚濊炒浜庝腑澶帶鍒跺櫒锛屽PLC鍠厓銆傚悓浜虹殑绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)涓€妯ｏ紝PLC绯荤当(t菕ng)鎵紨钁楀ぇ鑵︾殑瑙掕壊锛岀敤鎴剁敱HMI杓稿叆鏁�(sh霉)鎿�(j霉)锛孭LC鍦ㄨ矤(f霉)璨�(z茅)灏囬亱(y霉n)鍕�(d貌ng)鍛戒护閫氶亷鑴堟矕鏂瑰紡鎴栬€呯附绶氭柟寮忎笅閬�(d谩)绲︿己鏈嶇郴绲�(t菕ng)鍚屾檪(sh铆)锛岄倓瑕佽檿鐞嗗閮ㄧ殑I/O閭忚集鍛戒护锛屽鎬ュ仠銆侀珮閫熶腑鏂烽熆鎳�(y墨ng)绛�?锛熷垈棰戝ΞS鏁�(sh霉)瓒婂锛� PLC鐨勮矤(f霉)鎿�(d膩n)瓒婇噸锛岃檿鐞嗛€熷害瓒婃參锛岃€屼笖鎴愭湰涔熻秺楂�銆�
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鍦�2 鍌崇当(t菕ng)鏂规鑸囪嚭閬�(d谩)鏂规鐨勬帶鍒剁祼(ji茅)妲�(g貌u)灏嶆瘮

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4.2鑷洪仈(d谩)楂橀€熼亱(y霉n)鍕�(d貌ng)绺界窔DMCnet
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5.1 鑷洪仈(d谩)HMC鐢�(ch菐n)鍝�

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5.2 M绯诲垪浼烘湇
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