中文摘要
本文主要講述了六自由度運(yùn)動(dòng)平臺(tái)的設(shè)計(jì)及其伺服控制系統(tǒng)。
六自由度運(yùn)動(dòng)平臺(tái)具有廣泛的用途及前景。本文設(shè)計(jì)的六自由度平臺(tái)是一個(gè)空間并聯(lián)機(jī)構(gòu)，它由具有三自由度的水平調(diào)整機(jī)構(gòu)和平面調(diào)整機(jī)構(gòu)組成，通過(guò)這個(gè)兩個(gè)機(jī)構(gòu)的協(xié)調(diào)運(yùn)動(dòng)來(lái)最終實(shí)現(xiàn)本機(jī)構(gòu)六自由度的運(yùn)動(dòng)。
本課題研究的主要意圖是要實(shí)現(xiàn)一個(gè)LRU模塊的裝校，使模塊能精確的裝卸，并能人工控制它的運(yùn)動(dòng)。為此，本文主要從六自由度機(jī)構(gòu)設(shè)計(jì)、材料選型、運(yùn)動(dòng)學(xué)分析及它的控制算法結(jié)構(gòu)等方面著手，做了大量分析和研究，并取得了較滿意的效果。
平臺(tái)的控制系統(tǒng)采用可編程邏輯控制器(PLC)控制，即工業(yè)計(jì)算機(jī)進(jìn)行運(yùn)動(dòng)控制和狀態(tài)監(jiān)視。通過(guò)監(jiān)控系統(tǒng)的判斷來(lái)決定三個(gè)伺服電機(jī)的運(yùn)動(dòng)，實(shí)現(xiàn)對(duì)X、Y及 三自由度的精確運(yùn)動(dòng)。在控制室設(shè)置控制面板方便人工監(jiān)控本系統(tǒng)的運(yùn)行情況及人工控制平臺(tái)的運(yùn)動(dòng)。
通過(guò)本課題的研究，實(shí)現(xiàn)了六自由度平臺(tái)的運(yùn)動(dòng)及控制，實(shí)現(xiàn)了LRU模塊的精確裝校。


關(guān)鍵詞：六自由度，機(jī)構(gòu)選型，運(yùn)動(dòng)學(xué)，PLC控制















ABSTRACT

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keyword：Six Degrees of Freedom，Institution Lectotype，Kinematics，Plc Control


目 錄

中文摘要 Ⅰ
ABSTRACT Ⅱ
1緒論 1
1.1 六自由度機(jī)構(gòu)設(shè)計(jì)的目的及意義 1
1.1.1六自由度機(jī)構(gòu)設(shè)計(jì)的研究現(xiàn)狀及分析 1
1.1.2 六自由度平臺(tái)運(yùn)用現(xiàn)狀 2
1.1.3 六自由度機(jī)構(gòu)設(shè)計(jì)的選型分析 3
1.1.4 本課題方案研究 4
1.2 課題任務(wù)、重點(diǎn)研究?jī)?nèi)容、實(shí)現(xiàn)途徑 5
1.2.1課題任務(wù) 5
1.2.2重點(diǎn)研究?jī)?nèi)容 5
1.2.3實(shí)現(xiàn)途徑 5
2 平面調(diào)整核心機(jī)構(gòu)設(shè)計(jì)計(jì)算 6
2.1 平面調(diào)整機(jī)構(gòu)關(guān)鍵零件選型 6
2.1.1導(dǎo)軌選型 6
2.1.2螺桿導(dǎo)程角計(jì)算 8
2.1.3電機(jī)驅(qū)動(dòng)力矩計(jì)算 8
2.1.4電機(jī)選取 8
2.1.5滾珠絲桿副的極限轉(zhuǎn)速與允許轉(zhuǎn)速校核 9
2.1.6軸承校核 11
3運(yùn)動(dòng)學(xué)分析 13
3.1 概述 13
3.2六自由度對(duì)接定位方法 14
3.2.1粗定位 14
3.2.2精確定位 15
3.3平面調(diào)整系統(tǒng)構(gòu)成 15
3.4平面調(diào)整系統(tǒng)原理 16
4平面調(diào)整機(jī)構(gòu)的控制 19
4.1 平面調(diào)整算法 19
4.2 平面監(jiān)控系統(tǒng) 21
4.3 平面監(jiān)控系統(tǒng)硬件機(jī)構(gòu) 28
4.3.1 PLC的選擇 28
4.3.2 PLC電源設(shè)計(jì) 29
4.3.3 人機(jī)界面的選擇 29
4.3.4 本控制系統(tǒng)的特點(diǎn) 29
5全文總結(jié)與展望 31
5.1 本文主要研究工作 31
5.2 展望 31
參考文獻(xiàn) 32