六轴机器人离线编程与仿真系统设计与实现
发布时间：2019-02-17 18:31
【摘要】：机器人离线编程与仿真系统在工业机器人的使用过程中具有非常重要的作用，而当前机器人公司和商品化的此类系统虽然功能强大，但是并不对第三方开放且局限于特定的软硬件平台。中小制造企业为了适应柔性化的生产需要，对工业机器人离线编程与仿真系统的开放性和可移植性要求不断提高。 本文以本实验室与北航机器人研究所合作研发的UPR100型焊接工业机器人为研究对象，设计并开发了六轴工业机器人离线编程与仿真系统。在Qt+OpenGL开发环境下，采用软件工程的开发思想和模块化设计理念，完成了包括机器人运动学模块、三维建模模块、动画仿真模块以及机器人指令解释模块等功能模块。文中研究了UPR100的运动学问题，此外以功能为依据划分模块使得系统结构更加清晰，简洁直观的界面设计也增加了系统的易用性。最后经过系统测试及运行实验，结果证实了该系统是一个模块化程度较高、可扩展性良好、跨平台的具有自主知识产权的软件系统。 本文开发的软件系统在功能和性能上可以满足中小企业实际生产活动的需求，对于增强中小制造企业行业竞争力和相关技术理论研究都有比较重要的意义。
[Abstract]:Robot off-line programming and simulation systems play a very important role in the use of industrial robots. But not open to third parties and limited to specific software and hardware platforms. In order to meet the needs of flexible production, small and medium-sized manufacturing enterprises require the openness and portability of off-line programming and simulation systems for industrial robots. In this paper, we design and develop an off-line programming and simulation system for six-axis industrial robot based on UPR100 welding industrial robot, which is developed by our laboratory and Institute of Robotics of Beihang. In the environment of Qt OpenGL, using the idea of software engineering and modularization design, the function modules including robot kinematics module, 3D modeling module, animation simulation module and robot instruction interpretation module are completed. In this paper, the kinematics of UPR100 is studied. In addition, the system structure is clearer and the interface design is simple and intuitive based on function. Finally, the system is tested and tested, and the results show that the system is a software system with high modularity, good expansibility and independent intellectual property rights. The software system developed in this paper can meet the needs of small and medium-sized enterprises in terms of function and performance. It is of great significance to enhance the competitiveness of small and medium-sized manufacturing enterprises and to study the relevant technology theory.
【学位授予单位】：武汉科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP242
本文编号：2425464
[Abstract]:Robot off-line programming and simulation systems play a very important role in the use of industrial robots. But not open to third parties and limited to specific software and hardware platforms. In order to meet the needs of flexible production, small and medium-sized manufacturing enterprises require the openness and portability of off-line programming and simulation systems for industrial robots. In this paper, we design and develop an off-line programming and simulation system for six-axis industrial robot based on UPR100 welding industrial robot, which is developed by our laboratory and Institute of Robotics of Beihang. In the environment of Qt OpenGL, using the idea of software engineering and modularization design, the function modules including robot kinematics module, 3D modeling module, animation simulation module and robot instruction interpretation module are completed. In this paper, the kinematics of UPR100 is studied. In addition, the system structure is clearer and the interface design is simple and intuitive based on function. Finally, the system is tested and tested, and the results show that the system is a software system with high modularity, good expansibility and independent intellectual property rights. The software system developed in this paper can meet the needs of small and medium-sized enterprises in terms of function and performance. It is of great significance to enhance the competitiveness of small and medium-sized manufacturing enterprises and to study the relevant technology theory.
【学位授予单位】：武汉科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP242
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