| Motion control technology is the key technology of automation industry development and intelligent manufacturing.Multiaxial motion control technology in the field of robotics and CNC machine is more complex than special purposed machines.Multiaxial motion control technology is widely used in Grinding,Spraying,Crawling and Placing,Palletizing,Fitting and other industrial fields.It is of great significance to study the open universal multiaxial motion control system.It is of great significance to design a universal control system suitable for a variety of robots and numerically controlled machine to realize the development of the industrial automation,enhance the national comprehensive strength and speed up the industrialization process.In this paper,an open multiaxial motion control system is studied deeply,and an open multiaxial motion control system based on CODESYS 3.5 is designed.The main contents and achievements of the thesis are as follows:(1)Studied the position,posture,translation and rotation of mechanical tool by space matrix.Calculated the positive and negative kinematics equation of the multiaxial machine with DH method.(2)The three-dimensional simulation technology of multiaxial machine is studied.The three-dimensional simulation model of machine based on Solid Works2010 is designed and integrated into the HMI.(3)The multiaxial control system is based on CNC G-code.The control system developed a real-time communication.The control system achieved synchronous working of 3-D model and machine.(4)An all-in-one open multiaxial control system based on CODESYS software platform was designed.Hardware experimental platform was designed.Bus-based communication control technology make the system open and extensible.(5)An all-in-one HMI program based on the WPT was designed.Three kinds of machine models are pre-configured in the system.In addition,the user can also easily configure the parameters of the robot according to their needs.HMI program include communication connection,program management,data display,alarm restting,manual operation,automatic operation,online programming. |
PDF Full Text Request