激光沉积制造工业机器人离线编程与仿真系统研究
发布时间：2018-11-04 08:13
【摘要】：激光沉积制造技术(Laser Deposition Manufacturing,LDM)是在激光熔覆技术和快速原型技术基础上发展起来的一项先进制造技术。在激光沉积制造技术不断发展的过程中,业内不断地对其制造工艺和制造设备进行优化升级,逐渐开始将工业机器人引进到激光沉积制造领域。目前工业机器人在激光沉积制造领域的应用仍然停留在传统的示教编程层面,示教编程的缺点包括:对操作者的专业知识和操作技能的熟练程度有很高要求、现场具有一定的危险性、示教的过程较为繁琐、时效性较差、示教精度完全靠操作者的经验决定、实现CAD/CAM一体化的激光沉积制造比较困难、难以满足轨迹规划复杂性和任意性等要求。因此,本文设计开发了针对库卡KR30-HA型工业机器人的离线编程与仿真系统,从而避开了示教编程方式的缺点,提高了工业机器人在激光沉积制造领域的应用水平?本文针对基于库卡KR30-HA型工业机器人的同步送粉式激光沉积制造设备,利用CATIA二次开发技术在CATIA V5环境下搭建了一套极具通用性和实用性的离线编程与仿真系统,开展了激光沉积制造扫描轨迹优化、机器人运动学算法研究、动态仿真系统开发、机器人程序输出等工作。通过对现有的计算机辅助激光沉积制造编程软件进行优化升级,实现了前置处理功能;输出特定格式的分层切片扫描轨迹数据,为机器人沉积制造过程动态仿真和机器人程序输出提供准确的数据源;通过CATIA二次开发技术在CATIA V5环境下设计并开发了离线编程和动态仿真模块;实现了专用的后置处理功能,将通过了动态仿真验证的轨迹数据转换成机器人运动控制程序;最后通过开展现场试验对系统功能进行了全面验证,制件形貌和成型质量达到预期要求,试验结果表明:机器人运动学算法准确、位姿变换平滑;仿真动作姿态与实际完全一致;输出的机器人运动控制程序准确。有效提高了工业机器人在激光沉积制造领域的制造效率和应用水平。
[Abstract]:Laser deposition manufacturing (Laser Deposition Manufacturing,LDM) is an advanced manufacturing technology based on laser cladding and rapid prototyping. In the process of continuous development of laser deposition manufacturing technology, the manufacturing process and equipment of laser deposition industry are continuously optimized and upgraded, and industrial robots are gradually introduced into the field of laser deposition manufacturing. At present, the application of industrial robots in the field of laser deposition manufacturing still remains at the level of traditional teaching programming. The shortcomings of teaching programming include: high requirements for the proficiency of operators' professional knowledge and operational skills, There is a certain danger in the field, the teaching process is tedious and the time effect is poor, the teaching precision is decided by the experience of the operator, it is difficult to realize the laser deposition of CAD/CAM integration. It is difficult to meet the complexity and arbitrariness of trajectory planning. Therefore, this paper designs and develops an off-line programming and simulation system for Kuka KR30-HA industrial robot, which avoids the shortcomings of teaching programming and improves the application level of industrial robot in laser deposition manufacturing field. In this paper, aiming at the synchronous powder feeding laser deposition manufacturing equipment based on Kuka KR30-HA industrial robot, an off-line programming and simulation system based on CATIA V5 is built by using CATIA secondary development technology. The scanning trajectory optimization of laser deposition manufacturing, the research of robot kinematics algorithm, the development of dynamic simulation system and the output of robot program are carried out. By optimizing and upgrading the existing computer aided laser deposition programming software, the preprocessing function is realized. The specific format of hierarchical slice scanning trajectory data is output to provide accurate data source for dynamic simulation of robot deposition manufacturing process and robot program output. The off-line programming and dynamic simulation module are designed and developed under the environment of CATIA V5 by CATIA secondary development technology, the special post-processing function is realized, and the trajectory data verified by dynamic simulation is converted into a robot motion control program. Finally, the function of the system is verified by field test, and the shape and quality of the parts meet the expected requirements. The experimental results show that the robot kinematics algorithm is accurate and the position and pose transformation is smooth. The simulation posture is completely consistent with the actual situation, and the robot motion control program is accurate. The manufacturing efficiency and application level of industrial robot in laser deposition manufacturing are improved effectively.
【学位授予单位】：沈阳航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242;TG665
本文编号：2309254
[Abstract]:Laser deposition manufacturing (Laser Deposition Manufacturing,LDM) is an advanced manufacturing technology based on laser cladding and rapid prototyping. In the process of continuous development of laser deposition manufacturing technology, the manufacturing process and equipment of laser deposition industry are continuously optimized and upgraded, and industrial robots are gradually introduced into the field of laser deposition manufacturing. At present, the application of industrial robots in the field of laser deposition manufacturing still remains at the level of traditional teaching programming. The shortcomings of teaching programming include: high requirements for the proficiency of operators' professional knowledge and operational skills, There is a certain danger in the field, the teaching process is tedious and the time effect is poor, the teaching precision is decided by the experience of the operator, it is difficult to realize the laser deposition of CAD/CAM integration. It is difficult to meet the complexity and arbitrariness of trajectory planning. Therefore, this paper designs and develops an off-line programming and simulation system for Kuka KR30-HA industrial robot, which avoids the shortcomings of teaching programming and improves the application level of industrial robot in laser deposition manufacturing field. In this paper, aiming at the synchronous powder feeding laser deposition manufacturing equipment based on Kuka KR30-HA industrial robot, an off-line programming and simulation system based on CATIA V5 is built by using CATIA secondary development technology. The scanning trajectory optimization of laser deposition manufacturing, the research of robot kinematics algorithm, the development of dynamic simulation system and the output of robot program are carried out. By optimizing and upgrading the existing computer aided laser deposition programming software, the preprocessing function is realized. The specific format of hierarchical slice scanning trajectory data is output to provide accurate data source for dynamic simulation of robot deposition manufacturing process and robot program output. The off-line programming and dynamic simulation module are designed and developed under the environment of CATIA V5 by CATIA secondary development technology, the special post-processing function is realized, and the trajectory data verified by dynamic simulation is converted into a robot motion control program. Finally, the function of the system is verified by field test, and the shape and quality of the parts meet the expected requirements. The experimental results show that the robot kinematics algorithm is accurate and the position and pose transformation is smooth. The simulation posture is completely consistent with the actual situation, and the robot motion control program is accurate. The manufacturing efficiency and application level of industrial robot in laser deposition manufacturing are improved effectively.
【学位授予单位】：沈阳航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242;TG665
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