开放式多轴控制系统研究

发布时间：2018-03-24 01:02

本文选题：开放式　切入点：运动学变换　出处：《山东大学》2017年硕士论文

【摘要】：运动控制技术是发展现代自动化工业以及智能机械制造的关键技术。通用的多轴机构运动控制技术在工业机器人和数控机床领域内的应用要比在专用机器领域中的应用更为复杂。多轴机构运动控制技术在如今的工业现场已被广泛应用,其中在打磨、喷涂、抓取与摆放、码垛、装配等工业领域中的作用尤为突出。研究设计出一套开放式通用的多轴机构运动控制系统不仅响应了国家科技创新的政策,对实现"中国制造2025"也是意义重大,设计出适合多种机器人以及数字控制机床的通用控制系统对现代自动化工业发展,提升整个国家综合实力,加快工业现代化、智能化进程具有深远意义。本文对开放式多轴机构运动控制系统进行了深入的研究,设计了基于CODESYS 3.5运动控制软件开发平台的开放式多轴控制系统。论文的主要研究内容与成果如下:(1)研究分析空间矩阵对多轴机构工具中心或末端的位置、工具姿态以及机构平移、旋转等运动的表示方法,运用运动学D-H表示法对多轴机构的正、逆运动学进行详细的计算分析,并分别推导了摆头+转台形式五轴数控机床的坐标系变换以及SCARA机器人的运动学变换。然后,对SCARA机器人的运动范围进行了分析。(2)研究了多轴机构的三维模型仿真技术。基于第三方构图设计平台SolidWorks 2010,设计出了不同类型多轴机构的三维仿真模型,并将其集成在人机交互操作界面中,使得可视化操作界面更加形象。(3)介绍了多轴控制系统中的G代码编程方法,并且使用OPC技术完成了上位机可视化界面与机构运动控制系统之间的实时通信,实现了三维仿真模型与机构本体同步工作。(4)以工业PC及德国3S公司CODESYS 3.5运动控制软件作为系统的控制核心,全面构建了多合一的控制系统。搭建了硬件实验平台,采用总线式通信技术,使得系统更加开放,可扩展性更强。(5)基于VS2010软件中的WPF平台开发了多合一的上位机可视化操作界面,在系统中预先配置了三种机构型号(三轴、五轴机床和SCARA机器人),用户可以根据实际需要,对机构模型进行选择,并且对所选机构模型的结构参数进行简易配置。在上位机可视化操作界面中实现了通信连接、程序管理、数据显示、报警复位、手动操作、自动操作、在线编程等功能。
[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.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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