本文選題：六自由度并聯機構　切入點：LinuxCNC控制器　出處：《江蘇科技大學》2014年碩士論文

【摘要】：當前，基于Stewart平臺的六自由度并聯機構具有剛度大、重量輕、結構緊湊等優(yōu)點，已經在空間機器人、并聯數控機床等各尖端行業(yè)得到了廣泛的應用。六自由度并聯機構如果要完成某種特定的空間位姿或運動軌跡，實現機械系統(tǒng)設計的目的和任務，必須在控制器的控制作用下，通過進給驅動系統(tǒng)才能夠實現。并聯機構的開放性和多樣性決定了與其配套的控制器也應該是開放的，國內外已經構建了開放式控制系統(tǒng)的標準協議和體系框架，但目前尚沒有完全標準化和系列化。傳統(tǒng)的控制器功能封閉、價格昂貴、配套硬件設備復雜，很難獲得。但運行在開源Ubutu10.04實時操作系統(tǒng)環(huán)境下的LinuxCNC控制器是開源的，可從其網站上免費下載使用。 本論文是基于LinuxCNC控制器，對六自由度并聯機構進行研究，利用使用廣泛的跨平臺高級語言Python作為開發(fā)工具，開發(fā)設計了三維運動模型和虛擬控制面板，選用了運動控制卡、步進電機、滾珠絲杠等驅動裝置，從而構建基于LinuxCNC控制器下的六自由度并聯機構人機交互系統(tǒng)。其控制命令可以通過使用UG數控模塊生成的標準數控代碼來執(zhí)行。本文主要研究內容如下： 第一、分析并聯機構的命名方法，，計算基于Stewart平臺的6-UPS型并聯機構的自由度數。對并聯機構的正解和逆解算法進行分析，使用Python科學計算庫函數編制六自由度并聯機構逆解算法，并根據特例對桿長變化曲線進行仿真。 第二、對LinuxCNC軟件構架、通訊機制、運動控制系統(tǒng)進行詳細分析，其模塊化的設計思想和遵循開源協議的精神，使得通過調用合適的模塊就能配置成實現特定功能的控制器。詳細解析硬件抽象層及其halcmd語言，該語言是調用、配置LinuxCNC各模塊、開發(fā)三維動態(tài)模型、建立虛擬控制面板、連接軟硬件之間的信號和引腳的專用工具。 第三、對比分析LinuxCNC控制器本身自帶的兩種界面模式Tkemc和AXIS，選擇基于Python語言開發(fā)的AXIS界面模式。使用PyOpenGL（Python+OpenGL）語言構建了三維動態(tài)模型，通過硬件抽象層halcmd語言建立模塊之間的連接，使得在AXIS界面模式下，通過輸入數控代碼，利用LinuxCNC控制器，可以直觀形象地觀察到六自由度并聯機構平臺運動軌跡及桿長的變化位姿。 第四、在LinuxCNC控制器的AXIS界面模式下進行虛擬面板自定義設計。使用PyVCP（Python+XML）語言構建了虛擬控制面板，通過硬件抽象層halcmd語言建立模塊之間的連接，使得硬件設備接通電源后，就可以在虛擬控制面板上直觀地觀察到硬件運行狀況。分析使用GladeVCP進行觸摸屏控制界面設計的方法步驟。 第五、結合前面章節(jié)實現了的三維動態(tài)模型及虛擬控制面板，通過對LinuxCNC控制器進行軟硬件配置，選取步進電機、驅動系統(tǒng)，設計了基于LinuxCNC控制器下的六自由度并聯機構人機交互系統(tǒng)。
[Abstract]:At present, the six-degree-of-freedom parallel mechanism based on Stewart platform has many advantages, such as high stiffness, light weight, compact structure and so on. Parallel control machine tools and other cutting edge industries have been widely used. If a 6-DOF parallel mechanism is to complete a certain spatial pose or motion trajectory, and to achieve the purpose and task of mechanical system design, it must be controlled by the controller. The opening and diversity of parallel mechanism decide that the corresponding controller should be open, and the standard protocol and framework of open control system have been constructed at home and abroad. But at present, it is not completely standardized and serialized. The traditional controller is closed in function, expensive in price, complex in hardware and difficult to obtain. However, the LinuxCNC controller running in open source Ubutu10.04 real-time operating system is open source. It can be downloaded free of charge from its website. This paper is based on the LinuxCNC controller, studies the six-degree-of-freedom parallel mechanism, uses the widely used cross-platform high-level language Python as the development tool, develops and designs the three-dimensional motion model and the virtual control panel, selects the motion control card. Stepping motor, ball screw and other driving devices, In order to construct the human-computer interaction system of 6-DOF parallel mechanism based on LinuxCNC controller, the control command can be executed by using the standard NC code generated by UG numerical control module. The main contents of this paper are as follows:. First, the naming method of parallel mechanism is analyzed, and the number of degrees of freedom of 6-UPS parallel mechanism based on Stewart platform is calculated. The forward and inverse solutions of parallel mechanism are analyzed. The inverse solution algorithm of a 6-DOF parallel mechanism is developed by using the Python scientific calculation library function, and the variation curve of the rod length is simulated according to the special case. Secondly, the software architecture, communication mechanism and motion control system of LinuxCNC are analyzed in detail. The modular design idea and the spirit of open source protocol are followed. The hardware abstraction layer and its halcmd language are analyzed in detail. The language is to call, configure LinuxCNC modules, develop 3D dynamic model, and establish virtual control panel. A dedicated tool for connecting hardware and software between signals and pins. Thirdly, comparing and analyzing the two interface modes of LinuxCNC controller, Tkemc and ax, we choose the AXIS interface mode based on Python language, and construct the 3D dynamic model with PyOpenGL(Python OpenGL language. Through the hardware abstraction layer halcmd language to establish the connection between the modules, make use of the LinuxCNC controller in the AXIS interface mode, through the input numerical control code, The kinematic trajectory and pole length of the parallel mechanism with six degrees of freedom can be observed intuitively and vividly. Fourthly, the design of virtual panel in AXIS interface mode of LinuxCNC controller is carried out. The virtual control panel is constructed by using PyVCP(Python language. The connection between modules is established by halcmd language of hardware abstract layer, which makes the hardware device power on. The hardware running condition can be observed intuitively on the virtual control panel, and the method and steps of using GladeVCP to design the touch screen control interface are analyzed. Fifthly, combined with the 3D dynamic model and virtual control panel realized in the previous chapters, through the hardware and software configuration of the LinuxCNC controller, the stepper motor is selected to drive the system. A 6 DOF parallel mechanism man-machine interaction system based on LinuxCNC controller is designed.
【學位授予單位】：江蘇科技大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TH112;TP273

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