Development of Simulation Software and Control System for Mechanism with Hybrid Kinematic Structure

This paper describes the design of simulation software and control system for mechanism with hybrid kinematic structure (HKS) called trivariant which were realized on the workplace of authors. Designed simulation software allows the movement simulation of HKS as a machine tool with five degrees of freedom (DOF) or as a robot with six DOF. Both modifications can be simulated in manual or in automatic mode too. For the calculation of joint coordinates was necessary to create the mathematical model of mechanism. Simulation software was designed in programming language Delphi with support of OpenGL library. The control system for trivariant is based on standard PC which is connected to the mechanism by communication module. For practical functional verification of simulation SW and control system was built a real prototype.