Control System Design of DELTA Parallel Manipulator Based on Real-time Ethernet

To overcome the shortages of current DELTA parallel manipulator controllers in openness and expansibility, a control system design is proposed using motion control platform EtherMAC (Ethernet for Manufacture Automation Control), which is based on real-time Ethernet. In this method, synchronous real-time control is realized under standard Ethernet without special network adapter and hard real-time operation system by communication bus using slave node synchronization and clock correction technology. Furthermore, with the modular-structured slave node FPGA _IP core and component-based layered software architecture, DELTA manipulator can be developed quickly to adapt to different sorting and packaging situations. According to controller response time under prototype working condition, this method is proved to meet the requirements of synchronous real-time control.