Universal communication architecture for high-dynamic robot systems using QNX

Abstract

In this paper a new flexible communication architecture for high dynamic robot applications is presented. The motivation for the development is founded on the special requirements imposed by PKMs (parallel kinematic machines). PKMs obtain a different kinematic structure compared to their serial counterparts based on closed kinematic chains. This structural feature leads to a number of favorable properties as high structural stiffness, high accuracy and low moved masses resulting in high payload to robot mass ratio. This paper also introduces the structure and application of a new communication architecture matching with the needs of high-dynamic parallel robot systems.