Abstract-There are labor intensive, harsh environment and other issues in the handling process of the cheese in the dyeing workshop. To solve this problem we have designed and developed a Cheese Rectangular Coordinate Robot. PC is the host computer, and the software in PC is compiled in VC environment. It responsibles for control management and data management. Motion controller is slave computer, it drives servo motors and ancillary control equipment to achieve the function of robots picking and placing the yarns. The production practice approves that this robot control system is able to communicate with central control system and control robots' motion, and the system is stable and reliable.

Abstract:The structure of 5-UPS/PRPU redundant parallel manipulator is introduced. The degree of freedom and redundant type of this manipulator is analyzed. And, the dynamic equations of five UPS branches and a PRPU branch are established with Lagrange Method. This study provides theoretical basis for the control system of 5-UPS / PRPU redundant parallel manipulator.