發(fā)布時(shí)間：2018-03-24 01:02

  本文選題：開(kāi)放式　切入點(diǎn)：運(yùn)動(dòng)學(xué)變換　出處：《山東大學(xué)》2017年碩士論文

【摘要】：運(yùn)動(dòng)控制技術(shù)是發(fā)展現(xiàn)代自動(dòng)化工業(yè)以及智能機(jī)械制造的關(guān)鍵技術(shù)。通用的多軸機(jī)構(gòu)運(yùn)動(dòng)控制技術(shù)在工業(yè)機(jī)器人和數(shù)控機(jī)床領(lǐng)域內(nèi)的應(yīng)用要比在專(zhuān)用機(jī)器領(lǐng)域中的應(yīng)用更為復(fù)雜。多軸機(jī)構(gòu)運(yùn)動(dòng)控制技術(shù)在如今的工業(yè)現(xiàn)場(chǎng)已被廣泛應(yīng)用,其中在打磨、噴涂、抓取與擺放、碼垛、裝配等工業(yè)領(lǐng)域中的作用尤為突出。研究設(shè)計(jì)出一套開(kāi)放式通用的多軸機(jī)構(gòu)運(yùn)動(dòng)控制系統(tǒng)不僅響應(yīng)了國(guó)家科技創(chuàng)新的政策,對(duì)實(shí)現(xiàn)"中國(guó)制造2025"也是意義重大,設(shè)計(jì)出適合多種機(jī)器人以及數(shù)字控制機(jī)床的通用控制系統(tǒng)對(duì)現(xiàn)代自動(dòng)化工業(yè)發(fā)展,提升整個(gè)國(guó)家綜合實(shí)力,加快工業(yè)現(xiàn)代化、智能化進(jìn)程具有深遠(yuǎn)意義。本文對(duì)開(kāi)放式多軸機(jī)構(gòu)運(yùn)動(dòng)控制系統(tǒng)進(jìn)行了深入的研究,設(shè)計(jì)了基于CODESYS 3.5運(yùn)動(dòng)控制軟件開(kāi)發(fā)平臺(tái)的開(kāi)放式多軸控制系統(tǒng)。論文的主要研究?jī)?nèi)容與成果如下:(1)研究分析空間矩陣對(duì)多軸機(jī)構(gòu)工具中心或末端的位置、工具姿態(tài)以及機(jī)構(gòu)平移、旋轉(zhuǎn)等運(yùn)動(dòng)的表示方法,運(yùn)用運(yùn)動(dòng)學(xué)D-H表示法對(duì)多軸機(jī)構(gòu)的正、逆運(yùn)動(dòng)學(xué)進(jìn)行詳細(xì)的計(jì)算分析,并分別推導(dǎo)了擺頭+轉(zhuǎn)臺(tái)形式五軸數(shù)控機(jī)床的坐標(biāo)系變換以及SCARA機(jī)器人的運(yùn)動(dòng)學(xué)變換。然后,對(duì)SCARA機(jī)器人的運(yùn)動(dòng)范圍進(jìn)行了分析。(2)研究了多軸機(jī)構(gòu)的三維模型仿真技術(shù)。基于第三方構(gòu)圖設(shè)計(jì)平臺(tái)SolidWorks 2010,設(shè)計(jì)出了不同類(lèi)型多軸機(jī)構(gòu)的三維仿真模型,并將其集成在人機(jī)交互操作界面中,使得可視化操作界面更加形象。(3)介紹了多軸控制系統(tǒng)中的G代碼編程方法,并且使用OPC技術(shù)完成了上位機(jī)可視化界面與機(jī)構(gòu)運(yùn)動(dòng)控制系統(tǒng)之間的實(shí)時(shí)通信,實(shí)現(xiàn)了三維仿真模型與機(jī)構(gòu)本體同步工作。(4)以工業(yè)PC及德國(guó)3S公司CODESYS 3.5運(yùn)動(dòng)控制軟件作為系統(tǒng)的控制核心,全面構(gòu)建了多合一的控制系統(tǒng)。搭建了硬件實(shí)驗(yàn)平臺(tái),采用總線式通信技術(shù),使得系統(tǒng)更加開(kāi)放,可擴(kuò)展性更強(qiáng)。(5)基于VS2010軟件中的WPF平臺(tái)開(kāi)發(fā)了多合一的上位機(jī)可視化操作界面,在系統(tǒng)中預(yù)先配置了三種機(jī)構(gòu)型號(hào)(三軸、五軸機(jī)床和SCARA機(jī)器人),用戶可以根據(jù)實(shí)際需要,對(duì)機(jī)構(gòu)模型進(jìn)行選擇,并且對(duì)所選機(jī)構(gòu)模型的結(jié)構(gòu)參數(shù)進(jìn)行簡(jiǎn)易配置。在上位機(jī)可視化操作界面中實(shí)現(xiàn)了通信連接、程序管理、數(shù)據(jù)顯示、報(bào)警復(fù)位、手動(dòng)操作、自動(dòng)操作、在線編程等功能。
[Abstract]:Motion control technology is the key technology in the development of modern automation industry and intelligent machinery manufacture. The general motion control technology of multi-axis mechanism is applied in the field of industrial robot and NC machine tool more than in the field of special machine. Multi-axis mechanism motion control technology has been widely used in today's industrial field. Especially in the fields of grinding, spraying, grabbing and placing, palletizing, assembling and so on, the research and design of a set of open and universal motion control system of multi-axis mechanism not only responds to the national policy of scientific and technological innovation. It is also of great significance to realize "made in China 2025". The design of a general control system suitable for many kinds of robots and digital control machine tools will promote the development of modern automation industry, enhance the comprehensive strength of the whole country, and speed up the modernization of industry. The intelligent process is of profound significance. In this paper, the motion control system of open multi-axis mechanism is deeply studied. An open multi-axis control system based on CODESYS 3.5 motion control software development platform is designed. The main contents and results of this paper are as follows: 1) the position of the tool center or end of the multi-axis mechanism based on the spatial matrix is studied and analyzed. The kinematics D-H representation method is used to calculate and analyze the forward and inverse kinematics of the multi-axis mechanism. The coordinate system transformation and the kinematics transformation of the SCARA robot are derived respectively. In this paper, the motion range of SCARA robot is analyzed. (2) the 3D model simulation technology of multi-axis mechanism is studied. Based on the third party composition design platform SolidWorks 2010, the 3D simulation model of different types of multi-axis mechanism is designed. The method of G code programming in multiaxial control system is introduced by integrating it into the man-machine interactive operation interface, which makes the visual operation interface more visual. And the real-time communication between the visual interface of the host computer and the mechanism motion control system is completed by using OPC technology. This paper realizes the synchronization of 3D simulation model and mechanism. 4) taking industrial PC and CODESYS 3.5 motion control software of Germany 3s company as the control core of the system, a multi-in-one control system is built in an all-round way. The hardware experiment platform is built. Using bus communication technology, make the system more open and extensible. Based on the WPF platform in VS2010 software, the visual operation interface of host computer is developed. In the system, three kinds of mechanism models (three-axis, three-axis, three-axis) are pre-configured. With five-axis machine tool and SCARA robot, the user can select the mechanism model according to the actual needs, and configure the structure parameters of the selected mechanism model easily. The communication connection and program management are realized in the visual operation interface of the upper computer. Data display, alarm reset, manual operation, automatic operation, online programming and other functions.
【學(xué)位授予單位】：山東大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP273

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