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机器人离线编程系统的开发及其应用

发布时间:2018-08-12 19:02
【摘要】:为了提升制造业水平,加快企业转型升级,大量的机器人正被广泛地应用于各种生产制造当中。然而,机器人目前主要还是采用人工示教编程的方式,完成一些如搬运、码垛、上下料等较低端的工作。当面对复杂的加工任务时,机器人的编程能力就显得尤为不足,并在很大程度上制约着机器人性能的发挥。显然手工示教法难以满足高精度的生产需求。自动化的现代生产系统要求与之匹配的智能化的编程方式,离线编程能够弥补手工示教的劣势,可以更好地利用机器人的性能优势来完成更高精度的作业。近年来,机器人离线编程技术受到了越来越多的关注,许多科研机构都展开了相关的研究。本文对国内外大量的机器人离线编程与仿真系统进行了研究分析,归纳与总结了离线编程与仿真系统的技术特征与基本功能。本文根据实际需求构建了机器人离线编程系统的总体方案,以三维建模软件为开发平台建立了系统框架,主要研究了机器人笛卡尔空间的轨迹规划、机器人标定等离线编程的关键技术。基于以上的研究工作,根据机器人离线编程系统的功能需求开发了一套准确高效,通用性强,性价比高与操作简便的机器人离线编程系统,并命名为BW_OLP。对各个功能模块的特点与实现方法进行了详细地讲述,将该系统应用到机器人打磨与去毛刺工作中,取得了一定的效果。本文的研究内容主要包括以下几个方面:1.深入了解空间直线、圆弧、样条曲线等几何图元,分析他们的数学模型和几何特点,在计算机图形学的基础上研究笛卡尔空间直线、圆弧与样条曲线的轨迹插补算法,计算离散的路径点并优化轨迹,保证机器人运动的平稳性与安全性。2.分析现有的机器人标定技术,根据实际要求,研究一种实用的机器人标定方法,结合离线编程开发标定模块,包括工件标定与多机器人基坐标系的标定,实现虚拟环境与实际环境的高度匹配,提高机器人编程精度,减少误差。3.了解SolidWorks API的结构体系,熟悉接口函数的调用方法。运用COM技术在SolidWorks软件平台进行二次开发,生成机器人离线编程系统BW_OLP,其中包含有路径获取与处理,位姿调整,数据转换、运动仿真,后置处理等基本模块,实现了离线编程系统的主要功能。4.将离线编程系统BW_OLP应用到机器人打磨与去毛刺工作中,结合打磨和去毛刺工艺参数的设置,完成复杂轨迹的编程和仿真,并输出机器人控制代码。应用结果表明该系统具备一定的实用性。基于以上研究内容,本文自主开发出了一套机器人离线编程系统BW_OLP,该系统具有路径获取与处理,数据转换,位姿调整,运动仿真,后置处理等功能。在机器人打磨和去毛刺作业中使用该系统完成了工件打磨与去毛刺轨迹的离线编程。应用结果表明,该机器人离线编程系统能够满足打磨和去毛刺的应用要求,具有一定的有效性和实用性。
[Abstract]:In order to improve the manufacturing level and accelerate the transformation and upgrading of enterprises, a large number of robots are widely used in all kinds of manufacturing. However, at present, the robot mainly uses the manual teaching programming method to complete some lower work such as handling, palletizing, loading and unloading. When faced with complex processing tasks, the programming ability of robots is particularly inadequate, and to a large extent restricts the performance of robots. Obviously manual teaching method is difficult to meet the demand of high precision production. Modern automated production systems require intelligent programming methods matching with them. Off-line programming can make up for the disadvantage of manual teaching and can make better use of the performance advantages of robots to complete higher precision operations. In recent years, robot off-line programming technology has received more and more attention, many scientific research institutions have carried out related research. In this paper, a large number of off-line programming and simulation systems for robots at home and abroad are studied and analyzed, and the technical characteristics and basic functions of off-line programming and simulation systems are summarized and summarized. In this paper, the overall scheme of the robot off-line programming system is constructed according to the actual requirements, and the system framework is established on the platform of 3D modeling software. The trajectory planning of the robot Descartes space is mainly studied. The key technology of robot calibration iso-offline programming. Based on the above research work, according to the functional requirements of the robot off-line programming system, a set of robot off-line programming system is developed, which is accurate, efficient, versatile, cost-effective and easy to operate, and is named BWSP. The characteristics and implementation methods of each functional module are described in detail. The system is applied to the grinding and deburring of the robot, and some results are obtained. The research content of this paper mainly includes the following several aspects: 1. The geometric graph elements such as spatial straight line, circular arc and spline curve are deeply understood, their mathematical models and geometric characteristics are analyzed, and the trajectory interpolation algorithm of straight line, arc and spline curve in Descartes space is studied on the basis of computer graphics. The discrete path points are calculated and the trajectory is optimized to ensure the stability and safety of the robot. Based on the analysis of the existing robot calibration technology, a practical robot calibration method is studied, and the calibration module is developed based on off-line programming, including the calibration of the workpiece and the calibration of the multi-robot base coordinate system. To achieve the virtual environment and the actual environment height matching, improve robot programming accuracy, reduce error. 3. Understand the structure of SolidWorks API, familiar with the interface function call method. The COM technology is used in the secondary development of SolidWorks software platform to generate the robot off-line programming system BWOLP, which includes basic modules such as path acquisition and processing, position and pose adjustment, data conversion, motion simulation, post processing and so on. Realized the main function of offline programming system. 4. The off-line programming system BW_OLP is applied to the grinding and deburring of the robot. The complex trajectory is programmed and simulated by setting the parameters of grinding and deburring, and the robot control code is output. The application results show that the system has certain practicability. Based on the above research, a robot off-line programming system BWOLPis developed. The system has the functions of path acquisition and processing, data conversion, position and pose adjustment, motion simulation, post processing and so on. In the robot grinding and deburring operation, the system is used to finish the off-line programming of the workpiece polishing and deburring track. The application results show that the off-line programming system can meet the requirements of grinding and deburring, and it is effective and practical.
【学位授予单位】:广东工业大学
【学位级别】:硕士
【学位授予年份】:2017
【分类号】:TP242

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本文编号:2180013


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