Based upon the CANopen communication protocol and the LabVIEW graphic programing procedures, this paper develops a closed-loop control architecture for a parallel three-axis (Delta) robotic arm mechanism. The accomplishments include prototyping a parallel three-axis robotic arm mechanism, assembling servomotors with associated encoders and gearsets, coding CANopen communication scripts for servomotor controllers and a host supervision GUI, coding forward/inverse kinematics scripts to compute the required servomotor rotations and the coordinates of a movable platform or the mechanism, coding tracking error compensation scripts for effective closed-loop griper control, and coding integration scripts to command and supervise the mechanism motion on the LabVIEW-based host GUI. During the development stage, this research designed and prototyped the parallel three-axis robotic arm mechanism based upon basic Delta robot kinematics. To control the mechanism effectively and accurately, this study implemented the CANopen communication protocol, which characterizes high speed and stable transmission. The protocol applies to the CANopen communication channels among the controllers and the host supervision GUI. On the LabVIEW development platform, the coded supervision GUI performs issuing/receiving messages to the CANopen-based controllers. The controllers excite the servomotors and actuate the parallel mechanism to track prescribed trajectories in a closed-loop control fashion. Meanwhile, an electromagnet attached to the movable platform of the robotic mechanism performs satisfactory picking/placing object actions.

基于CANopen通信协议和LabVIEW图形化编程程序，本文为并联三轴（Delta）机械臂机构开发了一种闭环控制架构。成就包括对平行三轴机械臂机构进行原型制作，将伺服电机与相关的编码器和齿轮组组装在一起，对伺服电机控制器和主机监控GUI的CANopen通信脚本进行编码，对正向/反向运动学脚本进行编码以计算所需的伺服电机旋转和坐标系。一个可移动的平台或机构，对跟踪误差补偿脚本进行编码以实现有效的闭环夹持器控制，对集成脚本进行编码以在基于LabVIEW的主GUI上命令和监督机构的运动。在开发阶段，这项研究基于Delta机器人运动学原理设计并原型化了并联三轴机械臂机构。为了有效而准确地控制该机制，本研究实施了具有高速，稳定传输特性的CANopen通信协议。该协议适用于控制器和主机监控GUI之间的CANopen通信通道。在LabVIEW开发平台上，编码的监督GUI执行向基于CANopen的控制器的发布/接收消息。控制器激励伺服电动机并致动并联机构，以闭环控制方式跟踪规定的轨迹。同时，附接到机器人机构的可移动平台的电磁体执行令人满意的拾取/放置对象动作。