摘要
针对船舰分段对准运动的多维干涉,提出六维运动解耦分解为三维运动的方法.在分析小车平台的3个旋转和1个平动运动方程的基础上,对六维系统的三维直线运动进行处理,提取出三维直线运动的分量.将船舰对准系统上位机采用工控机,下位机采用西门子SIMATIC S7-200PLC,采用船舯线为旋转轴,避免了行程过量和运动干涉.实验结果表明:空间六自由度的运动解耦方法精度达到0.1 mm,实现了船舰焊接工艺的定位要求.
Directing to the multi-dimensional interference of marine sections aligning motion, a method of decoupling 6-dimension motion into 3-dimension linear motion is presented. On the basis of three rotation and one linear motion equations of marriage stage, the 3-dimension linear motion is handled to obtain respective values. An industrial control computer is utilized as the host computer and SIMATIC $7-200 as the slave computer. The stage introduces the middle of marine as rotating axis implementing 6-dim movements without interference and over range. The experiment results indicate that the system achieved a resolution of 0. lmm, which can match requirement of welding satisfactorily.
出处
《中北大学学报（自然科学版）》
EI
CAS
2008年第6期495-500,共6页
Journal of North University of China(Natural Science Edition)
关键词
六维船舰小车平台
运动解耦
运动干涉
six-dimension marine-carriage system
motion decoupling
motion interference
