基于Linux的SCARA型机械臂运动控制系统设计

发布时间：2018-05-24 11:24

本文选题：SCARA + 工业机器人　；参考：《浙江理工大学》2017年硕士论文

【摘要】：机器人(机械臂)是能够在三维空间中实现许多类似人的行为与功能的多自由度机器。随着中国经济的快速发展,中国对工业机器人的数量和质量都有很高的需求。现有的SCARA机械手大多数采用PC与运动控制卡相配合的方式进行系统控制,该方式的响应存在一定延迟,并且控制设备的成本较高。Linux系统是一个成熟而稳定的操作系统,它以其开源、稳定、免费的优势在嵌入式系统中的应用越来越广。利用基于Linux系统的嵌入式平台作为SCARA机械臂的控制端不仅能提高系统的实时性,并且能降低控制平台的成本。本文首先分析了研究的背景,并总结了近年来国内外针对机械手控制系统的研究。然后介绍了SCARA机械手的硬件参数及其机械结构,并在此基础上建立笛卡尔坐标系,进行了SCARA型机械手的运动学分析,绘制了机械手的工作区间,并介绍了轨迹疵点的剔除流程。随后,本文结合软件系统、硬件系统的设计,概述了机械手控制系统的总体方案,设计了软件系统的框架,介绍了Linux系统开发平台与交叉编译环境的搭建过程。而为了实现生产线多台机器人的组网运行,并能够实时监控每台机器人的运行状况,直接对接到生产管理部门。本文设计通过基于Qt的机械臂应用软件对SCARA型机械手进行运动控制,系统介绍了机械臂UI中登录界面、设备列表、编程界面、IO状态等主要界面的功能及实现方法,并详细讲解了基于多线程操作技术与TCP/IP协议的网络通讯系统设计方案与实现方法。作为应用最为广泛的绘图软件,AutoCAD绘制的图形还无法直接被机械臂系统所用,因此本文分析了DXF格式文件的数据结构,研究了其中数据的提取方法,设计并概述了机械臂控制系统软件的图纸导入与程序文件传输的应用性功能,然后进行了机械臂嵌入式系统与机械臂UI的网络通讯、文件传输测试。最后,为了测试本文设计的机械臂运动控制系统的实用性与可靠性,也为了检验SCARA型机械臂应用的广泛性,利用机械臂UI的图纸导入功能,结合数控系统中的刀具补偿算法,对机械臂进行了应用性的测试。
[Abstract]:Robot (manipulator) is a multi-degree of freedom machine which can achieve many human-like behaviors and functions in three-dimensional space. With the rapid development of China's economy, China has a high demand for the quantity and quality of industrial robots. Most of the existing SCARA manipulators use PC and motion control card to control the system, the response of this way is delayed, and the cost of the control equipment is high. Linux system is a mature and stable operating system. It is more and more widely used in embedded system because of its advantages of open source, stability and free. Using the embedded platform based on Linux system as the control end of the SCARA manipulator can not only improve the real-time performance of the system, but also reduce the cost of the control platform. Firstly, this paper analyzes the background of the research, and summarizes the research on manipulator control system at home and abroad in recent years. Then the hardware parameters and mechanical structure of SCARA manipulator are introduced. Based on this, the Cartesian coordinate system is established, the kinematics analysis of SCARA manipulator is carried out, the working interval of the manipulator is drawn, and the process of eliminating trace defects is introduced. Then, combined with the design of software system and hardware system, this paper summarizes the overall scheme of manipulator control system, designs the framework of software system, and introduces the process of building Linux system development platform and cross-compiling environment. In order to realize the network operation of multiple robots in the production line, and to monitor the running status of each robot in real time, the robot can be directly docked to the production management department. In this paper, the motion control of SCARA manipulator based on QT manipulator application software is designed. The functions and implementation methods of the main interface in the manipulator UI, such as login interface, equipment list, programming interface and IO state, are introduced systematically. The design scheme and implementation method of network communication system based on multithread operation technology and TCP/IP protocol are explained in detail. As the most widely used drawing software, the drawing of AutoCAD can not be directly used by the manipulator system. Therefore, this paper analyzes the data structure of the DXF format file, and studies the method of data extraction. This paper designs and summarizes the applied functions of drawing import and program file transmission of the manipulator control system software, and then carries out the network communication and file transmission test between the manipulator embedded system and the arm UI. Finally, in order to test the practicability and reliability of the manipulator motion control system designed in this paper, and to test the universality of the application of the SCARA manipulator, the drawing introduction function of the manipulator UI is used, and the tool compensation algorithm in the NC system is combined. The application of the manipulator is tested.
【学位授予单位】：浙江理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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