| Multi-axis linkage equipment is a high-tech industrial equipment.At present,all kinds of five-axis linkage machine tools play an important role in industrial tasks such as welding,grinding,assembly and sorting.It can be seen that the revitalization of the equipment manufacturing industry is inseparable from the drive of multi-axis machinery and equipment.However,the developed countries have long been in the leading position in this field,mainly reflected in the advanced nature of equipment and the superiority of control algorithms,even monopolized many key technologies.Therefore,the study of multi-axis mechanical model will have a higher theoretical significance and application value.And today’s equipment manufacturing industry tends to be smart,so constantly innovating control systems and improving human-machine collaboration and virtual reality will have important significance in accelerating the intelligentization process.This paper studies the multi-axis linkage motion control and simulation technology.The main research contents and the results obtained are as follows:(1)The basic theory of multi-axis mechanical model coordinate transformation is studied,including the pose representation and coordinate transformation matrix.Based on the existing research,a multi-axis kinematic model chain diagram was introduced to analyze the kinematic transformation formula of the multi-axis mechanical model.Taking three common five-axis linkage models as examples,the general formula is verified and the positive and negative solutions of each model are calculated.This part lays a theoretical foundation for subsequent motion control and simulation.(2)Based on the study of multi-axis mechanical equipment mathematical model,the multi-axis linkage motion path planning and control strategy were studied.Taking the spatial coherence curve as an example,the trajectory interpolation and attitude control algorithms are deduced,and the feasibility of the algorithm is verified by MATLAB platform simulation.Finally,the motion path interpolation code based on the G command is automatically generated based on the workpiece parameters,and the motion control system loads the processing code to start the operation.(3)The 3D simulation technique of multi-axis mechanical model was studied.Divided into two parts:simulation environment research and sports process display.In the process of establishing the simulation environment,decomposition design measures are taken to facilitate later control;in the simulation of animation design,motion path display functions are added to make the simulation process more intuitive.Through virtual simulation,the motion process of the model can be observed in real time,and the correctness of the interpolation algorithm can be verified.(4)In view of the large amount of data in multi-axis motion control systems,work-item management functions are implemented based on XML technology.It can create,open,save,and exit the project,greatly improving the reliability and convenience of data loading.(5)The multi-axis motion control system was designed based on the pure software control scheme of IPC and soft PLC,and the development of lower software and upper software was completed.Among them,the motion control program is mainly designed in the lower software,that is,the soft PLC,and the upper software is mainly the design of the man-machine interface,and the programming frame used is WPF.The interface is divided into four sections:online control,code management,three-dimensional simulation and parameter editing,providing users with rich control functions.The simulation module integrates a variety of three-dimensional models of the mechanical structure,and the user can reasonably switch according to the tasks performed.The whole software is open and easy to be developed twice,and it has certain versatility in the field of motion control. |
