【作者】 张敏；

【导师】 王宗义；

【作者基本信息】 哈尔滨工程大学 ， 控制理论与控制工程， 2005， 硕士

【摘要】 本文以实际的工程项目为背景,针对船舶建造工业中常遇到的空间曲线切割问题,设计了两种切割机器人,分别用于在壳体上开孔和圆管端头切割。理论上,小型开孔切割机器人能够在任意曲面上开任意形状的孔,管端切割机器人能完成任意形状的圆管端头的切割。 本文完成了本数控系统的软件设计。详细介绍了软件设计中碰到的各种空间曲线的计算方法,并对两种切割机器人的机械结构、硬件平台进行了介绍,并结合具体的设备对误差进行了分析。 经实际应用,本数控系统工作良好,能够满足用户的要求。更多还原

【Abstract】 With the background of practical projects, aiming at cutting problem of space curve in shipbuilding industry, two types of cutting robots are designed. They are used to cut holes on shell and cut the ends of the steel tubes. In theory, the small hole-cutting machine can cut arbitrary hole on arbitrary curved surface, and the tube-end incisory robot can incise round tubes’ ends of any form.In this paper, software design of CNC system is finished. The paper has recommended the calculation methods of various space curves in the software design. The paper has introduced the mechanical structure and hardware platform of the two incisory robots, and analyzed the errors combining the concrete equipment.Through practical application, the CNC system can work well and satisfy with the needs of the users.更多还原