五自由度混联机床数控系统及后置处理技术研究
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摘要
并联机床由于具有理论刚度高、承载能力强、重量轻、响应速度高、结构对称易于补偿、模块化程度高、可重组性强和技术附加值高等优点,一直受到学术界的广泛关注。并联机床的出现扩大了机床的应用范围,为新型机床设计提供了理论依据。本文研究一种新型五自由度串并联机床,它适合加工具有复杂空间曲面的零件。本文从串并联机床应用角度出发,在机床工作空间分析方面、基于UG的并联机床后置处理系统及并联数控系统功能开发方面进行较为深入的研究。主要研究工作如下:在运动学分析方面,建立并联机床的运动分析模型,进行串并联机床正解和逆解算法的研究,分析串并联机床的工作空间。
UG作为当今世界最为流行的CAD/CAM软件之一,具有强大的辅助加工能力,与数控系统结合将使串并联机床的加工能力得到合理的应用和充分的发挥。本文从串并联机床的应用角度出发,对开发基于UG的并联机床后置处理系统问题进行了研究。研究包括UG的后置处理器和串并联机床的后置处理系统的功能和结构,并提出了并联机床后置处理系统的总体结构。利用UG的Post-Builder后置处理构造器对串并联机床的后置处理系统做出架构,又使用TCL/TK语言开发了基于UG的并联机床后置处理系统,该系统可以直接读取UG/NX生成的刀具轨迹数据,进行后置处理计算后生成可以驱动并联机床加工的数控程序。
本文采用美国Delta Tau公司生产的通用高性能运动控制器PMAC作为控制主体,基于PMAC和IPC开发数控系统的总体硬件结构;基于Visual C++开发数控系统的软件平台,完成了功能模块的划分并对其中主要模块进行功能开发。根据系统的需要,基于PMAC的应用软件PEWIN中的PID调节功能对整个系统的参数进行了优化。最后,对本系统自行研发的数控系统软硬件平台及机床进行了正确的联机调试运行。
Parallel machine has been widely concerned in the academic community.Because it hastechnology advantages of the high theoretical stiffness, the strong bearing capacity, lightweight, high response speed, symmetrical structure which is easy to compensate, a high degreeof modularity, good restructuring performance and a higher-value-added . PMT expands theapplication scope of machine tools and provides a theoretical basis for a new type of machinetool design . In this paper, the five degrees of freedom in the string of PMT is a kind of the newgeneration of 5-DOF CNC machine tools which is suitable for processing complex space surfaceparts.In kinematic analysis the paper establishes the model of parallel machine tool movement,introduces the description method of posture on the moving platform. And the paper did theresearch of positive solutions and inverse solution algorithm of tandem and parallel machine,analyzing the workspace of the tandem and parallel machine.
As one of the most popular CAD / CAM software ,UG has great support processing capacity,combination with CNC machine tools will enable Series-parallel processing capabilities andreasonable application .The paper develops the application perspective of the series-parallelmachine and studies the post-processing system problem of the series-parallel machine based onthe UG.. The study includes UG post processor of function and structure in the Series PMT PostProcessing System, and proposes overall structure of PMT Post Processing System.Using UGPost-Builder for post-processing structure tool we can develop the structure of the series PMTPost Processing System, then using TCL / TK language we can develop the PMT PostProcessing System based on UG, the system can directly read tool path data generated by UG/ NX.After calculating post-processing we can get the NC program which can drive the parallelmachine .
The paper make the high-performance motion controller produced by the Delta Tau companyof the USA as the control main, based on the IPC PMAC NC system and the overall hardwarearchitecture.Using the Visual C + + to develop the function of the sofeware of theseries-parallel machine ,and completed the delineation of functional modules and main moduleswhich were functional development.Finally, according to the needs of systems, applicationsoftware based on Pmac PEWIN PID in the regulatory function of the parameters of the wholesystem has been optimized.The application software developed by the system was debuggingran.
UG作为当今世界最为流行的CAD/CAM软件之一,具有强大的辅助加工能力,与数控系统结合将使串并联机床的加工能力得到合理的应用和充分的发挥。本文从串并联机床的应用角度出发,对开发基于UG的并联机床后置处理系统问题进行了研究。研究包括UG的后置处理器和串并联机床的后置处理系统的功能和结构,并提出了并联机床后置处理系统的总体结构。利用UG的Post-Builder后置处理构造器对串并联机床的后置处理系统做出架构,又使用TCL/TK语言开发了基于UG的并联机床后置处理系统,该系统可以直接读取UG/NX生成的刀具轨迹数据,进行后置处理计算后生成可以驱动并联机床加工的数控程序。
本文采用美国Delta Tau公司生产的通用高性能运动控制器PMAC作为控制主体,基于PMAC和IPC开发数控系统的总体硬件结构;基于Visual C++开发数控系统的软件平台,完成了功能模块的划分并对其中主要模块进行功能开发。根据系统的需要,基于PMAC的应用软件PEWIN中的PID调节功能对整个系统的参数进行了优化。最后,对本系统自行研发的数控系统软硬件平台及机床进行了正确的联机调试运行。
Parallel machine has been widely concerned in the academic community.Because it hastechnology advantages of the high theoretical stiffness, the strong bearing capacity, lightweight, high response speed, symmetrical structure which is easy to compensate, a high degreeof modularity, good restructuring performance and a higher-value-added . PMT expands theapplication scope of machine tools and provides a theoretical basis for a new type of machinetool design . In this paper, the five degrees of freedom in the string of PMT is a kind of the newgeneration of 5-DOF CNC machine tools which is suitable for processing complex space surfaceparts.In kinematic analysis the paper establishes the model of parallel machine tool movement,introduces the description method of posture on the moving platform. And the paper did theresearch of positive solutions and inverse solution algorithm of tandem and parallel machine,analyzing the workspace of the tandem and parallel machine.
As one of the most popular CAD / CAM software ,UG has great support processing capacity,combination with CNC machine tools will enable Series-parallel processing capabilities andreasonable application .The paper develops the application perspective of the series-parallelmachine and studies the post-processing system problem of the series-parallel machine based onthe UG.. The study includes UG post processor of function and structure in the Series PMT PostProcessing System, and proposes overall structure of PMT Post Processing System.Using UGPost-Builder for post-processing structure tool we can develop the structure of the series PMTPost Processing System, then using TCL / TK language we can develop the PMT PostProcessing System based on UG, the system can directly read tool path data generated by UG/ NX.After calculating post-processing we can get the NC program which can drive the parallelmachine .
The paper make the high-performance motion controller produced by the Delta Tau companyof the USA as the control main, based on the IPC PMAC NC system and the overall hardwarearchitecture.Using the Visual C + + to develop the function of the sofeware of theseries-parallel machine ,and completed the delineation of functional modules and main moduleswhich were functional development.Finally, according to the needs of systems, applicationsoftware based on Pmac PEWIN PID in the regulatory function of the parameters of the wholesystem has been optimized.The application software developed by the system was debuggingran.
引文
[1] 汪劲松,黄田.并联机床— 机床行业面临的机遇与挑战.中国机械工程.1999(10):1103-1107
[2] Adrigonla. Simulation for Machine Tool Training. SME Technique paper, MS88-696.1998
[3] H.Su,Z.Liao, G.Liang. Direct Positional Analysis for a Kind of 5-5 Platform in Parallel Robotic Mechanism.Mechanism and Machine Theory, 1999,7(34):285-301
[4] Chris Koepfer, Mark Albert. Reinventing the Machine Tool. Modern Machine Shop. 1994,12(3):100-107
[5] Wang.Jinsong,Whitehouse. D.J.Close form solution to the position workspace of Stewart parallelmanipulator. Technology Sciences China Series.1998,8(5):393-403
[6] 中国机床工具工业协会赴EMO97 工作组.EMO97 新技术系列报道：六条腿机床取得重大进展.世界制造装备与市场．1998,1(7):17-21
[7] 周延佑,林益耀.发展中的六条腿机床.机械制造．1998,10:4-8
[8] Z. Geng. Learning Control System Design Based on 2-D Theory With Application to Parallel LinkManipulator. International Journal of Robotics and Automation. 1991, 6（2）:82-9
[9] The Cutting Edge of Machine Tools. Manufacturing Engineering. 1993,Nov:24 11 Matthias Hebsacker,Zürich．用六条腿机床实现高效铣削.制造技术与机床．1998,10:20-22
[10] 汪劲松,段广洪等. VAMTIY 虚拟轴机床.制造技术与机床. 1998, 3: 42-43
[11] L. Molinari Tosatti, G.Bianchi, I.Fassi, C.R.Boer, F. Jovane. An Integrated Methodology for the Design ofParallel Kinematic Machine (PKM).Annals of the CIRP. 1998,47(1):341-345
[12] The National Institute of Standards and Technology of United States.SandiaHexapod Project— TechnicalPlan. 1996:1-6
[13] Adrigonla.Simulation for Machine Tool Training. SME Techniquepaper, MS88-696.1998
[14] 周凯. 虚拟轴数控机床的仿五轴控制. 制造技术与机床. 1998,12:11-13
[15] 王洪瑞,侯增广,宋维公.并联机器人轨迹跟踪结构控制的研究. 机器人.1995, 17（2）:65-68
[16] 王阴,王晓光.3-RPS 并联机器人机构位置正解的杆长逼近法.东北大学学报(自然科学版)，2001,6(24):285-287
[17] Farouki Rida T,Manjunathaiah Jairam, Yuan Guo-Feng. G codes for the Specification ofPythagorean-hodograph Tool Paths and Associated Feedrate Functions on Open-architecture CNCMachines. International Journal of Machine Tools and Manufacture, 1999, 39(1): 123-142
[18] Pritschow G, Wurst K H. Systematic Design of Hexapods and Other Parallel Link Systems. Annal of theCIRP, 1997, 46(1): 291-295
[19] Matsuka H, Sawada C. Japanese PC-based Open Control Systems for Manufacturing Equipment.Internation Journal Japan Society Procession Engineering, 1996, 30(3): 204-209
[20] Yamazaki K, Hanaki Y, Mori M, Tezuka K. Autonomously Proficient CNC Controller forHigh-performance Machine Tools Based on an Open Architecture Concept. Annals of the CIRP, 1997,46(1): 275-278
[21] 童教陛.浅谈以个人计算机为基础的数控系统.制造技术与机床，1997，10：5-7
[22] 韩权利,马宏伟,杨来侠.开放式数控系统.制造技术与机床.2001，39(443)：32-24
[23] 王春,温声,关慧贞.基于PMAC 的并行双CPU 开放式数控系统.制造技术与机床.2001,3：2-3
[24] 刘晓堂.基于PMAC 的开放式数控系统的研究和开发.石油化工高等学校学报.2001,14(1)：3-4
[25] 郇极,尹旭峰.基于数字伺服现场总线技术的开放式数控系统.中国机械工程，1999(10）:1132-1134
[26] 倪雁冰,黄田,王辉.基于开放式结构的并联机床数控系统建造.天津大学学报,2001 年7 月第34 卷第4 期232-234：
[27] 刘明烈,于东,郭锐锋.高档数控蓝天一号和蓝天系列CNC 系统.中国机械工程，1998，9(5)：52-54
[28] 余雪华,钱新思.微机数控加工程序译码的C 语言实现方法.湖北汽车工业学院学报.1999,9(3)：12-14
[29] 侯志伟,宗国成.基于Windows 的数控系统输入、译码模块的设计.机械制造与自动化.1998, 6(4)：25-28
[30] Altintas Y, Erol N A. Open Architecture Modular Tool Kit for Motion and Machining Process Control.Annals of the CIRP, 1998, 47(1):295-300
[31] Koren Y. Control of Machine Tools. Transaction of the ASME, 1997, 119:749-755
[32] Koren Y. Five-axis surface interpolators. Annals of the CIRP, 1995, 44(1):379-382
[33] Koren Y, Lo C C. Advanced Control for Feed Drives. Annals of the CIRP, 1992, 41(1):689-698
[34] Mitsushi M, Nagao T, Okabe H, Hashiguchi M.An open architecture CNC CAD/CAM Machining Systemwith Data-base Sharing and Mutual Information Feedback. Annals of the CIRP, 1997, 46(1):269-274
[35] Matsuka H, Sawada C.Japanese PC-based Open Control Systems for Manufacturing Equipment.Internation Journal Japan Society Procession Engineering, 1996,30(3):204-209
[36] Dumur D, Boucher P, Roder J.Advantages of an Open Architecture Structure for the Design of PredictiveControllers for Motor Drives.Annals of the CIRP, 1998, 47(1):291-294
[37] 高档数控国家工程研究中心. 蓝天高档数控发展历程及其产业化成果. 中国机械工程,1999,10(10):1108-1111
[38] 黄金庆,刘明.基于开放式结构的高性能数控系统研制.制造技术与机床,1998,8:14-15
[39] 李爱平,张曙.开放式CNC 的概念和应用.制造技术与机床,1997,3:10-12
[40] 颜夏华.壁板铣床数控系统软件开发.大连理工大学研究生毕业论文.大连：大连理工大学2000.
[41] 赵春红,秦现生,唐虹.基于PC 的开放式数控系统研究.机械科学与技术,2005, 24(9):16-21
[42] 郇极.开放式数控系统的数字伺服接口和通讯协议.中国机械工程,1998,9(5):20-21
[43] 童教陛.浅谈以个人计算机为基础的数控系统.制造技术与机床,1997,10:5-7
[44] 郇极,尹旭峰.基于数字伺服现场总线技术的开放式数控系统.中国机械工程,1999（10）：1132-1134
[45] 王哲.面向并联机床的复杂曲面数控加工编程技术的研究[D],哈尔滨:哈尔滨工业大学,2000
[46] Wang Rui,Zhong Shisheng,Wang Zhixing. Workpiece locating and post processing system on 6 DOFCNC milling machine.Transactions of Nanjing University of Aeronautics &Astronautics,2006,11(2):138-143
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[2] Adrigonla. Simulation for Machine Tool Training. SME Technique paper, MS88-696.1998
[3] H.Su,Z.Liao, G.Liang. Direct Positional Analysis for a Kind of 5-5 Platform in Parallel Robotic Mechanism.Mechanism and Machine Theory, 1999,7(34):285-301
[4] Chris Koepfer, Mark Albert. Reinventing the Machine Tool. Modern Machine Shop. 1994,12(3):100-107
[5] Wang.Jinsong,Whitehouse. D.J.Close form solution to the position workspace of Stewart parallelmanipulator. Technology Sciences China Series.1998,8(5):393-403
[6] 中国机床工具工业协会赴EMO97 工作组.EMO97 新技术系列报道：六条腿机床取得重大进展.世界制造装备与市场．1998,1(7):17-21
[7] 周延佑,林益耀.发展中的六条腿机床.机械制造．1998,10:4-8
[8] Z. Geng. Learning Control System Design Based on 2-D Theory With Application to Parallel LinkManipulator. International Journal of Robotics and Automation. 1991, 6（2）:82-9
[9] The Cutting Edge of Machine Tools. Manufacturing Engineering. 1993,Nov:24 11 Matthias Hebsacker,Zürich．用六条腿机床实现高效铣削.制造技术与机床．1998,10:20-22
[10] 汪劲松,段广洪等. VAMTIY 虚拟轴机床.制造技术与机床. 1998, 3: 42-43
[11] L. Molinari Tosatti, G.Bianchi, I.Fassi, C.R.Boer, F. Jovane. An Integrated Methodology for the Design ofParallel Kinematic Machine (PKM).Annals of the CIRP. 1998,47(1):341-345
[12] The National Institute of Standards and Technology of United States.SandiaHexapod Project— TechnicalPlan. 1996:1-6
[13] Adrigonla.Simulation for Machine Tool Training. SME Techniquepaper, MS88-696.1998
[14] 周凯. 虚拟轴数控机床的仿五轴控制. 制造技术与机床. 1998,12:11-13
[15] 王洪瑞,侯增广,宋维公.并联机器人轨迹跟踪结构控制的研究. 机器人.1995, 17（2）:65-68
[16] 王阴,王晓光.3-RPS 并联机器人机构位置正解的杆长逼近法.东北大学学报(自然科学版)，2001,6(24):285-287
[17] Farouki Rida T,Manjunathaiah Jairam, Yuan Guo-Feng. G codes for the Specification ofPythagorean-hodograph Tool Paths and Associated Feedrate Functions on Open-architecture CNCMachines. International Journal of Machine Tools and Manufacture, 1999, 39(1): 123-142
[18] Pritschow G, Wurst K H. Systematic Design of Hexapods and Other Parallel Link Systems. Annal of theCIRP, 1997, 46(1): 291-295
[19] Matsuka H, Sawada C. Japanese PC-based Open Control Systems for Manufacturing Equipment.Internation Journal Japan Society Procession Engineering, 1996, 30(3): 204-209
[20] Yamazaki K, Hanaki Y, Mori M, Tezuka K. Autonomously Proficient CNC Controller forHigh-performance Machine Tools Based on an Open Architecture Concept. Annals of the CIRP, 1997,46(1): 275-278
[21] 童教陛.浅谈以个人计算机为基础的数控系统.制造技术与机床，1997，10：5-7
[22] 韩权利,马宏伟,杨来侠.开放式数控系统.制造技术与机床.2001，39(443)：32-24
[23] 王春,温声,关慧贞.基于PMAC 的并行双CPU 开放式数控系统.制造技术与机床.2001,3：2-3
[24] 刘晓堂.基于PMAC 的开放式数控系统的研究和开发.石油化工高等学校学报.2001,14(1)：3-4
[25] 郇极,尹旭峰.基于数字伺服现场总线技术的开放式数控系统.中国机械工程，1999(10）:1132-1134
[26] 倪雁冰,黄田,王辉.基于开放式结构的并联机床数控系统建造.天津大学学报,2001 年7 月第34 卷第4 期232-234：
[27] 刘明烈,于东,郭锐锋.高档数控蓝天一号和蓝天系列CNC 系统.中国机械工程，1998，9(5)：52-54
[28] 余雪华,钱新思.微机数控加工程序译码的C 语言实现方法.湖北汽车工业学院学报.1999,9(3)：12-14
[29] 侯志伟,宗国成.基于Windows 的数控系统输入、译码模块的设计.机械制造与自动化.1998, 6(4)：25-28
[30] Altintas Y, Erol N A. Open Architecture Modular Tool Kit for Motion and Machining Process Control.Annals of the CIRP, 1998, 47(1):295-300
[31] Koren Y. Control of Machine Tools. Transaction of the ASME, 1997, 119:749-755
[32] Koren Y. Five-axis surface interpolators. Annals of the CIRP, 1995, 44(1):379-382
[33] Koren Y, Lo C C. Advanced Control for Feed Drives. Annals of the CIRP, 1992, 41(1):689-698
[34] Mitsushi M, Nagao T, Okabe H, Hashiguchi M.An open architecture CNC CAD/CAM Machining Systemwith Data-base Sharing and Mutual Information Feedback. Annals of the CIRP, 1997, 46(1):269-274
[35] Matsuka H, Sawada C.Japanese PC-based Open Control Systems for Manufacturing Equipment.Internation Journal Japan Society Procession Engineering, 1996,30(3):204-209
[36] Dumur D, Boucher P, Roder J.Advantages of an Open Architecture Structure for the Design of PredictiveControllers for Motor Drives.Annals of the CIRP, 1998, 47(1):291-294
[37] 高档数控国家工程研究中心. 蓝天高档数控发展历程及其产业化成果. 中国机械工程,1999,10(10):1108-1111
[38] 黄金庆,刘明.基于开放式结构的高性能数控系统研制.制造技术与机床,1998,8:14-15
[39] 李爱平,张曙.开放式CNC 的概念和应用.制造技术与机床,1997,3:10-12
[40] 颜夏华.壁板铣床数控系统软件开发.大连理工大学研究生毕业论文.大连：大连理工大学2000.
[41] 赵春红,秦现生,唐虹.基于PC 的开放式数控系统研究.机械科学与技术,2005, 24(9):16-21
[42] 郇极.开放式数控系统的数字伺服接口和通讯协议.中国机械工程,1998,9(5):20-21
[43] 童教陛.浅谈以个人计算机为基础的数控系统.制造技术与机床,1997,10:5-7
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