工具機遠端監視系統之設計研究

Design of A Remote Monitoring System for CNC Machines

王鐘毅(Chung-Yi Wang)

指導教授 ： 丁鏞

中原大學/工學院/機械工程研究所/碩士(2003年)

https://doi.org/10.6840/cycu200300748

摘要

摘要

本論文主要是建立一套工具機的遠端監視系統，並以六軸工具機當作實驗操控之對象。設計訊號處理及擷取電路，直接擷取具高雜訊干擾之馬達編碼器的回授訊號，並對工具機的運動學和切削力模型進行推導，將建立之數學模型以程式方式建入虛擬工具機中。
利用MATLAB來作訊號處理及使用EON虛擬軟體來作虛擬顯示，並建立訊號擷取系統、訊號傳輸系統及虛擬顯示系統三個不同的子系統作處理；訊號擷取系統負責對編碼器訊號作擷取及逆向運動學的轉換；訊號傳輸系統則負責將Target PC上的工具機姿態訊號傳送回操控電腦，並將此訊號透過ActiveX的功能傳送給虛擬軟體作顯示；而將MATLAB已建立好之虛擬工具機模型嵌入於虛擬顯示系統，並接收工具機的姿態訊號作即時顯示。
另探討時間延遲的問題，將之分為通訊延遲時間和虛擬顯示延遲時間，分別對兩電腦間的通訊延遲與虛擬顯示時造成畫面的延遲作估算，求得整個虛擬監視系統與實際工具機姿態的延遲時間，來設計同步遠端控制及監視之效果。以及分別利用垂直進給訊號和平面軌跡訊號來驗證擷取電路之精度，探討在不同軌跡之間的誤差關係。

關鍵字

工具機 ； 即時監視 ； MATLAB/Simulink xPC ； 力量模型

並列摘要

In this study, a remote monitoring system is established on an example of a six-axis CNC machine. A signal processing circuitry is designed to filter and collect the high noise and large disturbance encoder signal of each axis. The kinematics and the force model of the 6-axis CNC machine are derived and used to build the virtual CNC machine.
The entire system is developed under the PC-based structure. It uses xPC function of the MATLAB/Simulink for signal process and EON VR software for virtual reality to build the signal capture, the signal transmission, and virtual display sub-systems. Signal capture system is in charge of capturing feedback signal and transforming inverse kinematics. Signal transmission system is in charge of transferring the position signal from Target PC to the Host PC, and to the EON software by Active X function. The virtual display system implements the established CNC-machine model to the EON and collects position signals to display the virtual CNC machine in real time.
The problem of time delay is concerned to include the communication time delay and display time delay. These time delays are calculated to obtain the entire time delay in order to design the synchronous remote control and monitoring objective. Practical experiment of vertical and horizontal cutting trajectory is carried on to verify the preciseness of the developed system.

並列關鍵字

real-time monitoring ； CNC machine ； force model ； xPC

參考文獻

[2] GE Fanuc Automation Computer Numerical Control Library.

[7] Gage, D.W., ”Network Protocols for Mobile Robot Systems”, SPIE Proceedings 3210:Mobile Robotics XII, Pittsburgh, PA, 10, 1997.

[16] H. MacCallion and DT Pham, “The Analysis of a Six Degree of Freedom Work Station for Mechanized Assembly”, Proc. 5th World Congress on Theory of Machines and Mechanisms, (1979), pp. 611-616.

[17] K. H. Hunt, “Structural Kinematics of In-Parallel-Actuated Robot-Arms,” ASME J. Mechanisms, Transmiss. Automat. Design, Vol. 105, pp. 705-712, 1983.

[18] Gosselin C. M. and Angeles J., 1989, “The Optimum Kinematics Design of A Spherical Three-degree-of-freedom Parallel Manipulator”, Journal of Mechanisms, Transmissions and Automation in Design, 111(2), pp. 202-207.