数控机床机械手柔性定位控制方法研究

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。

Research on Flexible Positioning Control Method of CNC Machine Tool Manipulator

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.