In particular , the appearing of new computer and the artificial intelligence accelerate the robot controlling system to develop quickly the dissertation designs a new robot computer controlling system and debugs it to a better control effect by using overseas advanced hardware and software in this dissertation , the main content includes : ( 1 ) presenting the research status of the parallel robot and the developing status of the computer control system and advancing the research task of parallel robot control system based in the mini type computer ( 2 ) analyzing the machine feature of the parallel robot 本文将借助国外先进的软硬件设备搭建一种全新的机器人计算机控制系统，并对其进行调试，使其完成较好的控制效果。本文主要包括如下内容：第一介绍了并联机器人的研究现状以及计算机控制系统的发展状况，并在此基础上提出了基于微型计算机的并联机器人控制系统的研究课题。
To study the of effect of insulator layer among tapes in a stack and the influence of frequency of ac transport currents on ac losses , ac losses of a single tape and stacks were measured for ac transport current with different frequencies in two cases : with and without insulator among the tapes in a stack . theoretical formulae to calculate hysteresis losses in stacked tapes were also presented 研究了高温超导带材及并联堆叠带材的交流损耗随传输电流频率的变化情况；及多根并联组合超导带间绝缘对交流损耗的影响情况；实验研究了并联堆叠带材的各向异性特性；给出了有限根超导带并联时，磁滞损耗的理论计算公式。
An approximate analysis of medium frequency parallel converter used in power supply controlled by microcomputer is presented in this work . the proposed approach may be applied to converters whose industrial applications are induction heating and metal melting installations . it is shown that closed loop circuit feedback control and opened loop circuit control are separated during the zero - power start - up process 通过阅读资料和文献，在对中频感应加热及其相关技术的发展、现状和趋势作了一个比较全面而深刻的研究基础上，论文分析了并联感应加热电源闭环控制的控制策略，并采用闭环开环分离的方法，解决了零电压启动问题；设计了中频感应加热电源的微机控制系统。
First , it analyzes the working principle and some features of the system , such as the circulating current characteristics , power distribution characteristics , and characteristics about closed loop regulation of voltage . then it goes on to the study of some typical control methods , and designs on this basis , a parallel controller using a synchronization control strategy of racing to merging and a load - sharing strategy combined with feedback control and drooped control 文中，首先通过建立系统的数学模型，分析了逆变电源并联运行的工作原理以及并联系统的一些主要特性，包括它的环流特性、功率特性和电压闭环调节特性；在此基础上，又研究了几种典型的并联运行控制方式；然后，采用抢占与并发相结合的同步控制方式和反馈与下垂特性相结合的负载均分控制设计了并联控制器。
Based on the analysis of topology structure of parallel mechanisms and using differential topology and differential manifolds as mathematical tools , we propose a new classification method . this method classifies singularities of parallel mechanisms into two basic types , i . e . topology singularity and parameterization singularity . this kind of classification has clear physical and mathematical meaning and fully reveals the characteristic of configuration space of parallel mechanisms 采用微分拓扑和微分流形等现代数学工具，在对并联机构位形空间的拓扑结构进行分析的基础上，提出了一种新的奇异位形的分类方法，即把奇异位形分为拓扑奇异位形、参数化奇异位形两种类型，这种分类方法充分体现了并联机构位形空间的特点，具有十分明确的物理和数学意义。
The relations between the mechanism parameters and some performance parameters of stewart platform such as leg position workspace , pose workspace , flexibility ratio and so on is studied . the leg mechanism is researched through space model theory , area performance atlas of leg position workspace is done and some conclusions are drew . the correctness of the preliminary mechanism parameters is proved by all of above 研究了并联腿机构结构参数对腿位置运动空间、姿态运动空间的影响，应用空间模型理论对腿部机构作了研究，作出了腿位置工作空间面积性能图谱，得出了一些结论，并且定义了并联腿机构性能指标灵活度，验证了选取初步结构参数的正确性。
The singularity analysis of the general 6 dof parallel manipulator is transformed into the optimal issue in the reachable workspace , the square of the determinant of jacobian matrix is selected as the objective function , and the minimal of this objective function is searched by a real - coded genetic algorithm 提出了基于遗传算法的并联机器人奇异性分析方法，将机器人的奇异性分析转化为在可达工作空间内寻找jaeobian矩阵行列式平方最小值问题，有效地解决了并联机器人奇异性分析问题。
A zero - voltage starting method is brought forward which switch the starting from separate exciting to self - exciting successfully ; pll ( phase lock loop ) technology is employed to realize the frequency tracing and constant phase angle control ; igbt driving and protective circuit suitable for parallel inverter is developed , which successfully solve the problem of time compensating and overlapping regulation for the driving signals ; a novel and practical over - voltage protective method for parallel inverters is presented which effectively avoid the possible over - voltage destroy to the inverter . xu haiwen ( power electronics and electric driving ) directed by senior engineer peng yonglong 提出了一种零压启动的他激转自激方法；通过采用锁相环技术实现了逆变器工作频率的自动跟踪和容性逆变角度的恒值控制；设计了适用于并联谐振型逆变器的igbt驱动与保护电路，解决了驱动信号的时间补偿以及重叠角的可调问题；提出了一种新颖、实用的逆变器过压保护方法，有效地解决了并联型谐振逆变器过压保护这一难题。
The operation principle of boost pfc converter was analyzed ; and the emulation model of boost pfc module under the average current control was set up . a novel method to sample synthetically the input current and output current was put forward in the text . this can realize the current sampling for the control of pfc and current sharing at the same time 分析了boostpfc变换器的工作原理，建立了基于平均电流控制的boostpfc模块的仿真模型；提出了一种新颖的输入输出电流综合采样方法，可同时实现pfc控制和均流控制的电流采样；建立了并联系统的仿真模型；研究设计了基于平均电流法的并联控制方案及实现电路。
