焊接机器人离线编程及仿真作业系统研究
发布时间：2018-10-13 18:56
【摘要】：随着社会的发展以及工业4.0的提出,机器人行业越来越受到社会的重视,其应用范围逐渐遍布各个领域。为了能够更加容易地操作机器人,业界学者对机器人的编程方式进行了探索,使其从传统的手工示教编程逐步过渡到离线编程,这种编程方式的改变不仅提高了机器人的工作效率,而且增加了操作人员的安全性。由于硬件及软件的迅速发展,计算机的响应速度和计算速度得到很大的提升,从而使得离线编程技术的实现成为可能。离线编程技术的实质在于利用计算机图形学的基本原理,将机器人的三维图形导入到计算机中,通过对虚拟机器人的操作,生成机器人本体可以识别的路径规划指令。本文从以下几方面进行了研究:1、本文以UR5机器人为研究对象,在认真分析其机械参数的基础之上,建立了其D-H坐标系,并求出了运动学方程。然后,借助OpenGL图形库,完成了 UR5机器人的三维模型导入,即UR5机器人的虚拟化建模。2、在传统遗传算法的理论基础上,本文提出了一种改进的遗传算法用于焊缝顺序的优化。通过实验验证,该算法能够有效快速地求解出较优的焊接顺序。3、本文以VS2013为开发环境,以MFC框架为界面窗口基础,以C++编程语言为工具,开发了运行在Win32操作系统上的"焊接机器人离线编程及仿真作业系统"软件。该系统软件采用模块化设计思想,主要包含机器人模型导入、远程监测、轨迹规划、环境模型、机器人指令导出等模块。由于各个模块的功能是相互独立的,因此本系统具有易于维护、扩展性强的特点。
[Abstract]:With the development of society and the proposal of industry 4.0, the robot industry has been paid more and more attention by society, and its application scope has gradually spread all over various fields. In order to operate the robot more easily, the researchers in the field have explored the programming method of the robot, making it gradually transition from the traditional manual teaching programming to the off-line programming. The change of programming method not only improves the efficiency of the robot, but also increases the safety of the operator. With the rapid development of hardware and software, the response speed and computing speed of computer are greatly improved, which makes the realization of off-line programming possible. The essence of off-line programming technology is to use the basic principles of computer graphics to import the three-dimensional graphics of robot into the computer. Through the operation of the virtual robot, the path planning instructions that can be recognized by the robot body are generated. In this paper, the following aspects are studied: 1. Based on the analysis of mechanical parameters of UR5 robot, the D-H coordinate system is established and the kinematics equation is obtained. Then, with the help of OpenGL graphics library, the three-dimensional model import of UR5 robot is completed, that is, virtual modeling of UR5 robot. 2. Based on the traditional genetic algorithm theory, an improved genetic algorithm is proposed to optimize the weld sequence. Experimental results show that the algorithm can solve the optimal welding sequence efficiently and quickly. In this paper, VS2013 is used as the development environment, MFC framework as the interface window and C programming language as the tool. The software of off-line programming and simulation of welding robot running on Win32 operating system is developed. The software of the system adopts modular design idea, including robot model import, remote monitoring, trajectory planning, environment model, robot instruction export and so on. Because the functions of each module are independent, the system has the characteristics of easy maintenance and strong expansibility.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
[Abstract]:With the development of society and the proposal of industry 4.0, the robot industry has been paid more and more attention by society, and its application scope has gradually spread all over various fields. In order to operate the robot more easily, the researchers in the field have explored the programming method of the robot, making it gradually transition from the traditional manual teaching programming to the off-line programming. The change of programming method not only improves the efficiency of the robot, but also increases the safety of the operator. With the rapid development of hardware and software, the response speed and computing speed of computer are greatly improved, which makes the realization of off-line programming possible. The essence of off-line programming technology is to use the basic principles of computer graphics to import the three-dimensional graphics of robot into the computer. Through the operation of the virtual robot, the path planning instructions that can be recognized by the robot body are generated. In this paper, the following aspects are studied: 1. Based on the analysis of mechanical parameters of UR5 robot, the D-H coordinate system is established and the kinematics equation is obtained. Then, with the help of OpenGL graphics library, the three-dimensional model import of UR5 robot is completed, that is, virtual modeling of UR5 robot. 2. Based on the traditional genetic algorithm theory, an improved genetic algorithm is proposed to optimize the weld sequence. Experimental results show that the algorithm can solve the optimal welding sequence efficiently and quickly. In this paper, VS2013 is used as the development environment, MFC framework as the interface window and C programming language as the tool. The software of off-line programming and simulation of welding robot running on Win32 operating system is developed. The software of the system adopts modular design idea, including robot model import, remote monitoring, trajectory planning, environment model, robot instruction export and so on. Because the functions of each module are independent, the system has the characteristics of easy maintenance and strong expansibility.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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