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研究生:李家銘
研究生(外文):Jia-Ming Li
論文名稱:XYZA-C並聯式工具機之PC-BasedCNC系統原理研究及其軟體實現
論文名稱(外文):PC-Based CNC System Principle Research and Software Implementation for XYZA-C Parallel Kinematic Machine Tool
指導教授:陳響亮陳響亮引用關係
指導教授(外文):Shang-Liang Chen
學位類別:碩士
校院名稱:國立成功大學
系所名稱:製造工程研究所碩博士班
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2002
畢業學年度:90
語文別:中文
論文頁數:116
中文關鍵詞:PC-Based 控制器數控工具機NURBS插補逆向運動解D-H座標轉換矩陣並聯式工具機
外文關鍵詞:NURBSinterpolationparallel kinematic machine toolD-H notationinverse kinematicCNCPC-Based controller
相關次數:
  • 被引用被引用:10
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由於人們對於品質的要求不斷提升,數控工具機(CNC)近年來一直受到工業界的重視,其中最關鍵的即為控制器的部分,為了使CNC的加工精度與速度獲得提升,機械結構、控制器設計與控制架構、路徑命令的精確度,三者缺一不可,因此好的控制系統不只包含了好的運動控制器設計,也要考慮正確的路徑命令插補。
目前一般傳統序列式工具機的控制器發展較成熟,相關的研究成果及商品化的產品頗多,而由於採用封閉鏈結構的並聯式工具機發展較晚,其控制器相關的探討較少。本研究針對XYZA-C並聯式工具機之CNC系統原理進行研究,利用D-H座標轉換矩陣及逆向運動解,由刀尖點位置計算獲得各機件位置,並配合五軸加工機後處理規劃,推導出從基礎的G01直線、G02及G03圓弧插補,到進階的NURBS曲線、NURBS曲面插補之理論運算,並根據進給速度的要求,在輪廓起點和終點之間計算出若個中間點的座標值。並以Visual Basic軟體建構一人機介面,包含CNC系統及插補模擬系統,其CNC系統包含了手動、馬達、程式編輯、自動等四項功能;而插補模擬系統包含了G01直線插補、G02、G03圓弧插補、NURBS曲面插補。在介面中輸入各插補所需之參數,如起點座標、終點座標、圓心座標等,即可依所推導之演算法則插補出所需之進給命令。運算結果以PMC公司之DCX-AT200系列控制卡來實現,並將輸出脈衝以示波器及邏輯分析儀擷取出加以分析,進而在PC上建構一套完整的PC-Based CNC系統。
The high quality of manufacturing processes is needed by the industry in the recent years. Therefore, the CNC machine is paid very much attention by industry, and the key component of that machine tool is controller. To improve the accuracy and the cutting speed of CNC machine, the mechanical structure, controller design, control algorithms, and the correctness of tool path command are all very important. A complete control system includes not only a well design controller, but also an excellent interpolator for tool path command.

Many previous researchers develop the controller of conventional serial type machine tool, and they announced a lot of research achievements and products. However, the close-formed parallel kinematic machine tool is a new design concept and very few researches are found in the literature about the controller. A CNC system of a five-DOF XYZA-C parallel kinematic machine tool is investigated and developed in this research. The D-H notation method is adopted to solve the inverse kinematics of this machine tool. The theory for the linear G01, circular G02 and G03, and the advanced NURBS surface interpolation is also developed in this research. The variation of feed rate is also considered in this developed interpolation theory. The CNC system including the interpolation algorithm is programmed by Visual Basic programming language. There are four function modules, manual module, rotate module, edit module, and auto module, are included in the developed CNC system. The simulation results for linear G01, circular G02 and G03, and NURBS surface interpolation can be displayed by the CNC system.

The interpolation parameters can be on-line input and modified on the CNC system. The interpolation results are performed on a DCX-AT200 motion control card of PMC-company to verify the correctness of the developed CNC system. The output pulses from the motion control card are also displayed and analyzed by a logic analyzer.
中文摘要 I
ABSTRACT II
誌謝 IV
目錄 V
表目錄 VII
圖目錄 VIII
符號說明 XII
第一章 前言 1
1-1研究背景與動機 1
1-2 文獻回顧 3
1-3 研究方法與預期目標 7
1-4章節瀏覽 8
第二章 XYZA-C並聯式工具機速度、加速度控制命令 11
2-1 概述 11
2-2 機件位置分析 11
2-3 各軸速度控制命令產生 21
2-4 路徑之加減速度控制命令 22
第三章 切削路徑之插補演算法 33
3-1 概述 33
3-2直線插補演算法 33
3-3 圓弧插補演算法 36
3-4 NURBS曲線插補演算法 38
3-5 NURBS曲面插補演算法 41
第四章 插補模擬 54
4-1 概述 54
4-2 機台尺寸、座標關係 54
4-3 基礎插補指令模擬(G01、G02、G03) 55
4-4 NURBS曲線、NURBS曲面插補模擬 56
4-5 插補結果與討論 57
第五章 軟體實現與結果討論 77
5-1 硬體設備 77
5-2 CNC系統模組設計規劃 78
5-3插補模擬系統設計規劃 81
5-4 CNC系統執行畫面與結果 85
5-5 控制命令脈波輸出 88
第六章 結論與建議 109
6-1 結論 109
6-2 未來研究方向 110
參考文獻 112
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