CN108020401A - A kind of multi-degree-of-freemechanical mechanical arm test system based on PXI buses - Google Patents
A kind of multi-degree-of-freemechanical mechanical arm test system based on PXI buses Download PDFInfo
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- CN108020401A CN108020401A CN201610928378.7A CN201610928378A CN108020401A CN 108020401 A CN108020401 A CN 108020401A CN 201610928378 A CN201610928378 A CN 201610928378A CN 108020401 A CN108020401 A CN 108020401A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2604—Test of external equipment
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Bus Control (AREA)
Abstract
The invention belongs to bus test technical field, and in particular to a kind of multi-degree-of-freemechanical mechanical arm test system based on PXI buses.In the present invention, open circuit protection transfers data to emergency button, and emergency button controls the opening and closing of power supply；Power supply is powered for power sensor and program controlled switch at the same time, and program controlled switch controls the opening and closing of power sensor, measurand at the same time；Power sensor transfers data to analog acquisition card, and analog acquisition card transfers data to PXI buses；Mutual data transmission between serial port board, CAN cards and measurand, mutual data transmission between serial port board, CAN cards and PXI buses, PXI buses transfer data to digital I/O card, and digital I/O card realizes the control to program controlled switch；Mutual data transmission between computer and PXI buses.The present invention can test each joint performance of multi-degree-of-freemechanical mechanical arm, and the comprehensive performance of whole mechanical arm.
Description
Technical field
The invention belongs to bus test technical field, and in particular to a kind of multi-degree-of-freemechanical mechanical arm based on PXI buses is surveyed
Test system.
Background technology
The performance test of multi-degree-of-freemechanical mechanical arm is divided into each joint performance test and mechanical arm system performance test.Intactly
Assessing the performance in a certain joint needs to consider multiple physical quantitys；And with the increase of the free degree, the linkage between each joint
Effect so that assessing the performance of mechanical arm system becomes abnormal difficult.In addition, how to evaluate mechanical arm a certain specific action or
The validity of order is also suitable stubborn problem.
The content of the invention
Present invention solves the technical problem that：The present invention provides a kind of multi-degree-of-freemechanical mechanical arm test system based on PXI buses
System, can test each joint performance of multi-degree-of-freemechanical mechanical arm, and the comprehensive performance of whole mechanical arm.
The technical solution adopted by the present invention：
A kind of multi-degree-of-freemechanical mechanical arm test system based on PXI buses, including computer, PXI buses, analog acquisition
Card, digital I/O card, serial port board, CAN cards, power sensor, power supply, program controlled switch, emergency button, open circuit protection；
Open circuit protection transfers data to emergency button, and emergency button controls the opening and closing of power supply；Power supply is at the same time
Power sensor and program controlled switch power supply, program controlled switch control the opening and closing of power sensor, measurand at the same time；Power
Sensor transfers data to analog acquisition card, and analog acquisition card transfers data to PXI buses；Serial port board, CAN cards are with being tested
Mutual data transmission between object, mutual data transmission between serial port board, CAN cards and PXI buses, PXI buses are by data transfer
To digital I/O card, digital I/O card realizes the control to program controlled switch；Mutual data transmission between computer and PXI buses.
The computer according to test definition, is parsed into transmission data according to agreement, is positioned in data buffer storage first；It is slow
Data in depositing according to communication protocol it is orderly be sent to data I O board card, serial ports board and CAN cards through PXI device drives, at the same time
Back production analogue data, serial port communication data, CAN communication data；For measurand performance parameter, according to the processing arranged in advance
Method carries out integrating interpretation, ultimately produces testing journal sheet.
The computer is the main scheduling, calculating, processing unit of whole test device, to all plates in PXI buses
Card carries out integrated dispatch, and is actually responsible for the work such as transmission, collection, preservation, data processing and the generation testing journal sheet of data.
The PXI buses get up computer and each board organic connections, and carry out the interaction of data between them, pass
It is defeated.
The reality output situation of the electricity consumption situation of measurand and power supply is changed into electric signal by the power consumption sensor；Institute
State analog acquisition card collection power consumption sensor, the analog signal of measurand.
The digital I/O card receives the order of computer, and controls program controlled switch.
The serial port board is responsible for the serial communication between computer and mechanical arm controller；CAN cards use NI PXI-8522
Dual-port card, CAN cards are responsible for the CAN digital communications between computer and mechanical arm.
The program controlled switch, under control of the computer powers on measurand and power operation；Emergency button is used
In the power-off of burst in emergency circumstances；Open circuit protection carries out Electrical Safety protection to whole test device.
Beneficial effects of the present invention：
(1) a kind of multi-degree-of-freemechanical mechanical arm test system based on PXI buses provided by the invention, substantially reduces test
The construction cycle of equipment, reduces the use cost of user, replaces, upgrades and safeguards easy to the later stage；
(2) a kind of multi-degree-of-freemechanical mechanical arm test system based on PXI buses provided by the invention is right during the test
Power supply electric power thus supplied, mechanical arm controller and mechanical arm electricity consumption situation, each running parameter of mechanical arm, monitor in real time, manage,
Understand the power consumption and working condition of system in real time during the test easy to tester, found the abnormal situation in time, avoid damaging
Bad equipment under test；
(3) a kind of multi-degree-of-freemechanical mechanical arm test system based on PXI buses provided by the invention, is provided with hardware
" emergency button ", is provided with " scram button " in software, can occur in mechanical arm test process constructive interference or other
During emergency, tested mechanical arm, the safety of tested personnel are ensured to greatest extent；
(4) a kind of multi-degree-of-freemechanical mechanical arm test system based on PXI buses provided by the invention, can flexibly define survey
Item is tried, a certain joint of mechanical arm or multiple joints are tested, also a certain specific action of whole arm (can such as be captured, grabbed
Hold) tested；When multiple joints are carried out at the same time performance test, test device sends asynchronous position instruction to each joint, closes
Section moves successively, eliminates the influence that joint is linked to single joint performance parameter, while improve testing efficiency.
(5) a kind of multi-degree-of-freemechanical mechanical arm test system based on PXI buses provided by the invention, can after the completion of test
To handle data, and propose to determine joint performance with parameters such as polarity, movement velocity, overshoot, position static differences
Amount evaluation.
Brief description of the drawings
Fig. 1 is test device internal hardware structure diagram；
Fig. 2 is test device software module composition frame chart；
Fig. 3 is joint of mechanical arm instruction sequencing figure；
Fig. 4 is the complete test command sequence chart of mechanical arm system.
Embodiment
Below in conjunction with the accompanying drawings with specific embodiment to a kind of multi-degree-of-freemechanical mechanical arm based on PXI buses provided by the invention
Test system is described in further detail.
As shown in Figure 1, a kind of multi-degree-of-freemechanical mechanical arm test system based on PXI buses provided by the invention, including meter
Calculation machine, PXI buses, analog acquisition card, digital I/O card, serial port board, CAN cards, power sensor, power supply, program controlled switch, mechanical arm
Controller, mechanical arm, emergency button, open circuit protection；
Open circuit protection transfers data to emergency button, and emergency button controls the opening and closing of power supply；Power supply is at the same time
Power sensor and program controlled switch power supply, program controlled switch control the unlatching of power sensor, mechanical arm controller, mechanical arm at the same time
And closing；Power sensor transfers data to analog acquisition card, and analog acquisition card transfers data to PXI buses；Serial port board
The mutual data transmission between mechanical arm controller, mutual data transmission between CAN cards and mechanical arm；Serial port board, CAN cards with
Mutual data transmission between PXI buses, PXI buses transfer data to digital I/O card, and digital I/O card is realized to program controlled switch
Control；Mutual data transmission between computer and PXI buses.
Computer uses NI PXIe-8840Express controllers, and computer is the main scheduling of whole test device, meter
Calculate, processing unit, integrated dispatch carried out to all boards in PXI buses, and be actually responsible for the transmissions of data, collection, preservation,
The work such as data processing and generation testing journal sheet；
PXI bus platforms use NI PXIe-1042Q 8U cabinets, and PXI buses play computer and each board organic connections
Come, and carry out the interaction of data, transmission between them；
Analog acquisition card uses NI PXI-6251, analog acquisition card collection power consumption sensor, mechanical arm controller, machinery
The analog signal of arm；
Digital I/O card uses NI PXI-6521, and digital I/O card receives the order of computer, and controls program controlled switch；
Serial port board uses four communication cards of NI PXI-8433/4 (RS485/422), and serial port board is responsible for computer and mechanical arm control
Serial communication between device processed；
CAN cards use NI PXI-8512 dual-port cards, and the CAN numerals that CAN cards are responsible between computer and mechanical arm are logical
Letter；
Power consumption sensor selects LEM HC6H potline current sensors, power consumption sensor by the electricity consumption situation of measurand and
The reality output situation of power supply is changed into electric signal；
The 4NIC-X series of power of Power Selection Aerospace Changfeng Chaoyang Power Supply Co., Ltd. to measurand and device inside
Respectively it is powered with electric device；
Program controlled switch, is powered on and is powered off behaviour to tested mechanical arm controller and mechanical arm under control of the computer
Make；
Emergency button is used for the power-off to happen suddenly in emergency circumstances；
Open circuit protection carries out Electrical Safety protection to whole test device；
Mechanical arm controller and mechanical arm are measurand.
As shown in Fig. 2, the software of test device is write on Labview software platforms：Test definition include test object,
Joint ID addresses, director data；Data buffer storage during test starts is opened up by the queue in Labview, and data monitoring is mainly right
Gathered data in current data caching carries out interpretation, if any abnormal conditions then alarm, analog acquisition, Digital I/O, serial ports
Communication, CAN communication are write on the basis of vi (being known as interface function in C language programming concept) and are formed；The main root of data processing
According to the configuration file requirement of specific format, the mechanical arm parameter of care is calculated, interpretation, processing；Report is generated, by
Labview calls report generation module, and test result is preserved into Word document.
Embodiment 1
Joint performance test：
In each joint performance test of mechanical arm, to remove influence of each joint connected effect of mechanical arm to test result,
In succession position command is sent to each joint.Sequential when Fig. 3 is sends ladder instruction and slope instruction successively to 1-7 joints
Figure.
The configuration file generation command signal to be sent that computer software is defined according to sequence diagram, and pass through PXI
Bus is sent to each joint of mechanical arm by CAN cards, at the same time gathers the position in each joint, voltage and current, temperature, communication
The parameters such as counting, reset count, and computer is passed to by PXI buses, these data are stored, parsed and shown by computer
On panel, after test, data processing module can be handled according to certain algorithm these data to obtain joint pole
The performance parameters such as property, speed, overshoot, position static difference.
Embodiment 2
Mechanical arm system is completely tested：
Can whole system is mainly assessed in mechanical arm system performance test correctly perform particular command instruction.Computer software
Pre-defined order configuration file is read, the command sequence to be sent is generated, control interface is passed through by serial port board through PXI buses
Be sent to mechanical arm controller, at the same by each joint position of telemetry interface recovery system, each voltage and current, temperature,
The parameter such as communication count, the monitoring mark of system, process identification, PXI buses return to computer, computer preserves data,
Parsing, display, after test, data processing module obtains various state parameters of concern according to specific computational methods.
Command sequence and the evaluating tried to achieve are as shown in Figure 4.
Embodiment 3
Mechanical arm evaluating computational methods：
Power consumption
UiJoint operation voltage, IiJoint operation electric current；
Move polarity
αiJoint location of instruction angle, βiJoint action position angle；
Movement velocity
vtT moment joint motions speed, βtT moment joint action angle, Δ t time intervals；
Position static difference
Δ θ joint position static differences, αiJoint location of instruction angle, βiJoint action position angle.
Claims (8)
- A kind of 1. multi-degree-of-freemechanical mechanical arm test system based on PXI buses, it is characterised in that：Including computer, PXI buses, Analog acquisition card, digital I/O card, serial port board, CAN cards, power sensor, power supply, program controlled switch, emergency button, open circuit protection；Open circuit protection transfers data to emergency button, and emergency button controls the opening and closing of power supply；Power supply is at the same time power Sensor and program controlled switch power supply, program controlled switch control the opening and closing of power sensor, measurand at the same time；Power sensing Device transfers data to analog acquisition card, and analog acquisition card transfers data to PXI buses；Serial port board, CAN cards and measurand Between mutual data transmission, mutual data transmission between serial port board, CAN cards and PXI buses, PXI buses transfer data to number Word IO cards, digital I/O card realize the control to program controlled switch；Mutual data transmission between computer and PXI buses.
- A kind of 2. multi-degree-of-freemechanical mechanical arm test system based on PXI buses according to claim 1, it is characterised in that： The computer according to test definition, is parsed into transmission data according to agreement, is positioned in data buffer storage first；Number in caching According to according to communication protocol it is orderly be sent to data I O board card, serial ports board and CAN cards, while back production simulation through PXI device drives Data, serial port communication data, CAN communication data；For measurand performance parameter, carried out according to the processing method arranged in advance Comprehensive interpretation, ultimately produces testing journal sheet.
- A kind of 3. multi-degree-of-freemechanical mechanical arm test system based on PXI buses according to claim 2, it is characterised in that： The computer is the main scheduling, calculating, processing unit of whole test device, all boards in PXI buses is carried out comprehensive Scheduling is closed, and is actually responsible for the work such as transmission, collection, preservation, data processing and the generation testing journal sheet of data.
- A kind of 4. multi-degree-of-freemechanical mechanical arm test system based on PXI buses according to claim 2, it is characterised in that： The PXI buses get up computer and each board organic connections, and carry out the interaction of data, transmission between them.
- A kind of 5. multi-degree-of-freemechanical mechanical arm test system based on PXI buses according to claim 2, it is characterised in that： The reality output situation of the electricity consumption situation of measurand and power supply is changed into electric signal by the power consumption sensor；The simulation is adopted Truck collection power consumption sensor, the analog signal of measurand.
- A kind of 6. multi-degree-of-freemechanical mechanical arm test system based on PXI buses according to claim 2, it is characterised in that： The digital I/O card receives the order of computer, and controls program controlled switch.
- A kind of 7. multi-degree-of-freemechanical mechanical arm test system based on PXI buses according to claim 2, it is characterised in that： The serial port board is responsible for the serial communication between computer and mechanical arm controller；CAN cards use NI PXI-8522 dual-ports Card, CAN cards are responsible for the CAN digital communications between computer and mechanical arm.
- A kind of 8. multi-degree-of-freemechanical mechanical arm test system based on PXI buses according to claim 2, it is characterised in that： The program controlled switch, under control of the computer powers on measurand and power operation；Emergency button is used to happen suddenly tight Power-off in the case of urgency；Open circuit protection carries out Electrical Safety protection to whole test device.
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| CN201610928378.7A CN108020401A (en) | 2016-10-31 | 2016-10-31 | A kind of multi-degree-of-freemechanical mechanical arm test system based on PXI buses |
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| CN201610928378.7A CN108020401A (en) | 2016-10-31 | 2016-10-31 | A kind of multi-degree-of-freemechanical mechanical arm test system based on PXI buses |
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Cited By (1)
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| WO2020083066A1 (en) * | 2018-10-22 | 2020-04-30 | 江苏艾科半导体有限公司 | Manipulator simulation test system and test method based on fpga chip |
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