Dvoosni numerično krmiljen stroj s kinematično transformacijo

Luin, Matevž (author), Munih, Marko (mentor)

Magistrsko delo opisuje postopek izdelave dvoosnega numerično krmiljenega stroja s kinematično transformacijo za namen rezanja kamnitih plošč v kamnoseški obrti. CNC tehnologija omogoča natančen avtomatiziran izrez kar pohitri postopek obdelave in delo fizično olajša. Uvodoma lahko preberemo kratek opis področja. Na kratko so podani cilji in zahteve dela. V nadaljevanju je opisana mehanska in električna zasnova stroja. Stroj je sestavljen iz dvoosnega manipulatorja in verižne žage. Opisan je krmilni in močnostni električni del stroja. Predstavljene so uporabljene komunikacije ter podan izračun kinematične transformacije. Tretje poglavje obravnava programsko opremo. Za izdelavo programa za krmilni računalnik, grafični vmesnik in aplikacijo za simuliranje delovanja stroja so bila uporabljena različna razvojna programska orodja. Uporabljen je bil tudi CAD/CAM program za mehansko konstruiranje ter kasneje pripravo programov za CNC izrez. V četrtem poglavju je opisana namestitev in delovanje strojne opreme. Predstavljene so priključene naprave na komunikacijskem vodilu, testiranje komutacije servomotorjev in regulacijska zanka. Nadalje sledi opis programiranja stroja in izdelan grafični vmesnik. Predstavljeni so programski postopki in funkcijski bloki, ki omogočajo upravljanje s strojem po zahtevah. Opisano je NC programiranje in uporaba glajenja prehajanja med segmenti poligonske oblike. V šestem poglavju je predstavljena aplikacija, ki omogoča simuliranje delovanja stroja. Izris poteka dvodimenzionalne trajektorije po rezu oblike poteka v realnem času. Prav tako se osvežuje tridimenzionalen izris premikanja manipulatorja z obdelovancem. Aplikacija je bila uporabljena tudi za preverbo vgrajenega algoritma kinematično transformacije. V končnem poglavju so predstavljeni rezultati magistrskega dela tako izreza na realnem stroju, kot tudi v simuliranem okolju. Prikazani so rezultati izreza z uporabo glajenja med prehodi poligonske oblike in rezultat numerične metode Newton - Rahson za preverbo inverzne kinematične transformacije.

• Language: Slovenian
• Keywords: numerično krmiljenje, kinematična transformacija, namestitev opreme, PLC programiranje, NC programiranje, grafični vmesnik, aplikacija za simuliranje delovanja, glajenje prehoda med segmenti oblike, numerična metoda Newton - Raphson, izračun inverzne kinematične transformacije.
• Work type: Master's thesis/paper
• Organization: FE - Faculty of Electrical Engineering
• Year: 2016
• PID: 20.500.12556/RUL-82792
• Publication date in RUL: 24.05.2016

Secondary language

• Language: English
• Title: Numerically controlled two degree machine with kinematic transformation

Abstract

The thesis describes numerically controlled two degree manipulator with kinematic transformation. The machine is designed for cutting stone plates in a stone cutting workshop. CNC technology enables precise and automated cutting, which speeds up the process of manufacturing. The machine description, objectives and requirements are given in the introduction. A mechanical and electrical specification of the machine is shown in the second chapter. The setup consist from a two degree manipulator and a chainsaw. Electrical design of the device is split on a control part, power part and communications. Also the kinematic transformation calculation is given here. The third chapter is covering software packages. For development of programme in control computer, for graphical user interface and for the application allowing simulation were used different development environments. The CAD/CAM software was used for mechanical design and later for preparations of programs for CNC cutting. The fourth chapter describes the phase of hardware installation and commissioning of devices. All device management is done via communication fieldbus. The machine and graphical user interface programming is presented in the fifth chapter. Programming procedures and function blocks that enables machine operation are described. NC programming is explained also on example with smoothing of segment transitions. The sixth chapter presents an application for simulating machine operation. The application plots a two-dimensional trajectory of manipulator and also moves three-dimensional model of the workpiece, and manipulator accordingly to NC interpreter code. The application was also used to verify the PLC built-in kinematic transformation algorithm. The final chapter shows the thesis results. Given are plots of cuts in application for machine simulation, images of cuts on real machine and example while using smoothing of segment transitions. Additionally, numerical method Newton - Rahson shows the same results as the built-in inverse kinematic transformation.

• Keywords: numerical control, kinematic transformation, devices installation, PLC programming, NC programming, graphical user interface, application for machine operation simulation, smoothing of segment transitions, numerical method Newton - Raphson, inverse kinematic transformation.