[1]雷利霞,马小荣,温晓荣.数控机床机械手柔性定位控制方法研究[J].机械与电子,2022,(10):45-48.
　LEI Lixia,MA Xiaorong,WEN Xiaorong.Research on Flexible Positioning Control Method of CNC Machine Tool Manipulator[J].Machinery & Electronics,2022,(10):45-48.
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数控机床机械手柔性定位控制方法研究()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2022年10期
页码:
45-48
栏目:
机电一体化技术
出版日期:
2022-10-31

文章信息/Info

Title:
Research on Flexible Positioning Control Method of CNC Machine Tool Manipulator
文章编号:
1001-2257 ( 2022 ) 10-0045-04
作者:
雷利霞; 马小荣; 温晓荣
神木职业技术学院机电工程系,陕西 神木 719300
Author(s):
LEI Lixia ;  MA Xiaorong ;  WEN Xiaorong
( Department of Mechanical and Electrical Engineering , Shenmu Vocational and Technical College , Shenmu 719300 , China )
关键词:
数控机床; 机械手; 柔性定位控制; 运动学分析; 运动学建模;  PLC 程序
Keywords:
CNC machine tools ;  manipulators ;  flexible positioning control ;  kinematics analysis ;  kinematics modeling ;  PLC program
分类号:
TP241
文献标志码:
A
摘要:
提出了新的数控机床机械手柔性定位控制方法。在柔性条件下构建数控机床机械手双作业臂的运动学模型,基于该模型设计气动定位控制硬件与控制程序,硬件选用光编码器和分周处理器等设备,软件程序通过 PLC 来编制,从而实现对机械手手臂各关节及基座等位置的定位控制。测试结果表明:应用所提方法后,作业臂旋转关节定位变量值与其定位理想值十分接近;作业臂 1 、2 的定位变量值相对误差最高不超过 0.50° 、0.40° ,平均定位误差分别为 52.805 mm 、 58.055 mm 。说明所提方法的定位控制性能能够满足设计需求。
Abstract:
A new flexible positioning control method for the manipulator of CNC machine tools was proposed.Based on the double operation under the condition of flexible construction of CNC machine tool manipulator arm kinematics etablished model , the modelof pneumatic position control hardware and control program were designed.Using the weeks processors and optical encoder device as the hardware and making software program by PLC , the control of certain positions of the manipulator arm joints and base was realized.The test results show that the positioning variable value of rotating joint of manipulator is very close to its ideal positioning value after applying the proposed method.The relative errors of positioning variables of arm 1 and arm 2 are no more than 0.50°and 0.40° , and the average level of positioning errors are 52.805 mm and 58.055 mm , respectively.It shows that the positioning control performance of the proposed method can meet the design requirements.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2021-11-30
基金项目:陕西省教育厅专项科研计划项目( 20JK0624 )
作者简介:雷利霞 ( 1987- ),女,山西兴县人,讲师,研究方向为机械设计及自动化;马小荣 ( 1986- ),男,陕西神木人,讲师,研究方向为电气及供配电技术;温晓荣 ( 1988- ),男,陕西神木人,硕士,讲师,研究方向为液压与气动技术。
更新日期/Last Update: 2022-11-10