六自由度并联平台多轴运动控制系统设计  

Design of Multi-axis Motion Control System for 6-DOF Parallel Platform

作　　者：马光 周万勇 汪杰 丁泽超 冀洪崇 MA Guang;ZHOU Wanyong;WANG Jie;DING Zechao;JI Hongchong(College of Electronic and Control Engineering,North China Institute of Aerospace Engineering,Langfang Hebei 065000,China)

机构地区：[1]北华航天工业学院电子与控制工程学院,河北廊坊065000

出　　处：《机床与液压》2020年第5期1-5,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(51075119);河北省重点研发计划项目(18211915D);北华航天工业学院研究生教研项目(YJY-2017-02)。

摘　　要：为了提高大型和异形零部件的装配效率和装配精度,设计了六自由度并联平台多轴控制系统。通过控制6个电动缸的伸缩变化,实现动平台在空间6个自由度的运动。选用倍福C6015-0010型控制器作为整个系统的控制核心,使用TwinCAT控件实现工控机与运动控制器及数控系统的通信。可以实现控制系统的方位角、俯仰角和横滚角精度达到±0.01°,垂直、纵向及侧向线位移精度达到±0.1 mm。In order to improve the assembly efficiency and accuracy of large and special-shaped parts,a multi-axis control system of Six degrees of freedom(6-DOF)parallel platform is designed.By controlling the expansion and contraction of six electric cylinders,the motion of the moving platform in 6-DOF in space was realized.Beifu C6015-0010 controller was selected as the control core of the whole system,and TwinCAT control was used to realize the communication between industrial control computer,motion controller and numerical control(CNC)system.The accuracy of azimuth angle,pitch angle and roll angle of the control system can be realized as±0.01°,and the accuracy of vertical,longitudinal and lateral linear displacement is±0.1 mm.

关 键 词：六自由度 多轴运动控制 数控系统 运动控制器 

分 类 号：TH16[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]