基于CODESYS的五轴点胶机控制系统设计  

Design of control system for five-axis dispensing machine based on CODESYS

作　　者：徐建明[1] 韩波 XU Jianming;HAN Bo(School of Information Engineering,Zhejiang University of Technology,Hangzhou 310023)

机构地区：[1]浙江工业大学信息工程学院,杭州310023

出　　处：《高技术通讯》2022年第1期13-21,共9页Chinese High Technology Letters

基　　金：国家自然科学基金-浙江省自然科学基金联合基金两化融合项目(U1709213);国家自然科学基金面上项目(61374103)资助。

摘　　要：针对曲面屏手机点胶的需求,使用CODESYS作为软件开发平台,采用工控机作为硬件平台设计了五轴点胶机控制系统。控制系统使用基于EtherCAT总线的一主多从控制模式,基于SM3_CNC库开发了G代码读取以及解析功能,使用DH参数法建立运动学模型并设计了正逆运动学功能块,基于分段3次Hermite插值和3次样条插值算法设计了PVT插补功能块,以Visualization模块为基础设计了可视化界面。以曲面屏手机模型为实验对象,以刀轴矢量始终重合于曲面法向量和点胶速度保持匀速为工艺要求,采用研制的控制系统进行曲面点胶实验,实验结果表明所设计的五轴点胶机控制系统具有工程应用价值。In order to meet the demand of dispensing mobile phone with curved screen,CODESYS is used as the software development platform,and the industrial personal computer is used as the hardware platform to design a five-axis dispensing machine control system.The control system uses master-slave control mode based on EtherCAT bus.The function of reading and parsing G-code is developed based on SM3_CNC library.The kinematics model is established by DH-parameter method and the forward and inverse kinematics function block is designed.The PVT interpolation function block is designed based on the piecewise cubic Hermite interpolation and cubic spline interpolation algorithm,and the visual interface is designed based on the visualization module.Mobile phone model with the curved screen is used as the experiment object.The requirements are that the cutter axis vector always coincides with the curved surface normal vector and the dispensing speed keeps constant.The developed control system is used to carry out curved surface dispensing experiment.The results show that the developed five-axis dispensing machine control system has engineering application value.

关 键 词：CODESYS 五轴点胶机 G代码 运动学 PVT插补 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]