摘要
基于Beckhoff运动控制软件和开发平台,设计了一种适用于二自由度七连杆传动结构的运动控制方案。通过对两个原动件(旋转轴)的运动规划和合成,实现连杆传动机构末端在YZ平面坐标系内的插补运动。该方案不需要对复杂连杆机构进行数学建模和专用的运动学算法开发,通过标准的CNC系统即可实现,实际测试具备较好的定位精度和效率。
Based on the Beckhoff motion control software and the development platform, a motion control scheme for two-degree-of-freedom seven-bar linkage structure is designed. Through the motion planning and synthesis of two original parts （rotary axis） Interpolation of the End of the Transmission Mechanism in the YZ Plane Coordinate System. It does not need to do mathematical modeling or special kinematic algorithm development for complex linkage mechanism, can be implemented by a standard CNC system. In practical application, the result of test shows good positioning accuracy and efficiency.
出处
《现代制造技术与装备》
2017年第11期9-11,共3页
Modern Manufacturing Technology and Equipment
关键词
两自由度多连杆结构
样条插补
坐标转换
运动控制
multi-link mechanism with two degrees of freedom, spline interpolation, coordinate transformation, motion control
