機(jī)器人離線編程系統(tǒng)的開發(fā)及其應(yīng)用
發(fā)布時(shí)間：2018-08-12 19:02
【摘要】：為了提升制造業(yè)水平,加快企業(yè)轉(zhuǎn)型升級(jí),大量的機(jī)器人正被廣泛地應(yīng)用于各種生產(chǎn)制造當(dāng)中。然而,機(jī)器人目前主要還是采用人工示教編程的方式,完成一些如搬運(yùn)、碼垛、上下料等較低端的工作。當(dāng)面對(duì)復(fù)雜的加工任務(wù)時(shí),機(jī)器人的編程能力就顯得尤為不足,并在很大程度上制約著機(jī)器人性能的發(fā)揮。顯然手工示教法難以滿足高精度的生產(chǎn)需求。自動(dòng)化的現(xiàn)代生產(chǎn)系統(tǒng)要求與之匹配的智能化的編程方式,離線編程能夠彌補(bǔ)手工示教的劣勢(shì),可以更好地利用機(jī)器人的性能優(yōu)勢(shì)來完成更高精度的作業(yè)。近年來,機(jī)器人離線編程技術(shù)受到了越來越多的關(guān)注,許多科研機(jī)構(gòu)都展開了相關(guān)的研究。本文對(duì)國(guó)內(nèi)外大量的機(jī)器人離線編程與仿真系統(tǒng)進(jìn)行了研究分析,歸納與總結(jié)了離線編程與仿真系統(tǒng)的技術(shù)特征與基本功能。本文根據(jù)實(shí)際需求構(gòu)建了機(jī)器人離線編程系統(tǒng)的總體方案,以三維建模軟件為開發(fā)平臺(tái)建立了系統(tǒng)框架,主要研究了機(jī)器人笛卡爾空間的軌跡規(guī)劃、機(jī)器人標(biāo)定等離線編程的關(guān)鍵技術(shù)。基于以上的研究工作,根據(jù)機(jī)器人離線編程系統(tǒng)的功能需求開發(fā)了一套準(zhǔn)確高效,通用性強(qiáng),性價(jià)比高與操作簡(jiǎn)便的機(jī)器人離線編程系統(tǒng),并命名為BW_OLP。對(duì)各個(gè)功能模塊的特點(diǎn)與實(shí)現(xiàn)方法進(jìn)行了詳細(xì)地講述,將該系統(tǒng)應(yīng)用到機(jī)器人打磨與去毛刺工作中,取得了一定的效果。本文的研究?jī)?nèi)容主要包括以下幾個(gè)方面:1.深入了解空間直線、圓弧、樣條曲線等幾何圖元,分析他們的數(shù)學(xué)模型和幾何特點(diǎn),在計(jì)算機(jī)圖形學(xué)的基礎(chǔ)上研究笛卡爾空間直線、圓弧與樣條曲線的軌跡插補(bǔ)算法,計(jì)算離散的路徑點(diǎn)并優(yōu)化軌跡,保證機(jī)器人運(yùn)動(dòng)的平穩(wěn)性與安全性。2.分析現(xiàn)有的機(jī)器人標(biāo)定技術(shù),根據(jù)實(shí)際要求,研究一種實(shí)用的機(jī)器人標(biāo)定方法,結(jié)合離線編程開發(fā)標(biāo)定模塊,包括工件標(biāo)定與多機(jī)器人基坐標(biāo)系的標(biāo)定,實(shí)現(xiàn)虛擬環(huán)境與實(shí)際環(huán)境的高度匹配,提高機(jī)器人編程精度,減少誤差。3.了解SolidWorks API的結(jié)構(gòu)體系,熟悉接口函數(shù)的調(diào)用方法。運(yùn)用COM技術(shù)在SolidWorks軟件平臺(tái)進(jìn)行二次開發(fā),生成機(jī)器人離線編程系統(tǒng)BW_OLP,其中包含有路徑獲取與處理,位姿調(diào)整,數(shù)據(jù)轉(zhuǎn)換、運(yùn)動(dòng)仿真,后置處理等基本模塊,實(shí)現(xiàn)了離線編程系統(tǒng)的主要功能。4.將離線編程系統(tǒng)BW_OLP應(yīng)用到機(jī)器人打磨與去毛刺工作中,結(jié)合打磨和去毛刺工藝參數(shù)的設(shè)置,完成復(fù)雜軌跡的編程和仿真,并輸出機(jī)器人控制代碼。應(yīng)用結(jié)果表明該系統(tǒng)具備一定的實(shí)用性�；谝陨涎芯�?jī)?nèi)容,本文自主開發(fā)出了一套機(jī)器人離線編程系統(tǒng)BW_OLP,該系統(tǒng)具有路徑獲取與處理,數(shù)據(jù)轉(zhuǎn)換,位姿調(diào)整,運(yùn)動(dòng)仿真,后置處理等功能。在機(jī)器人打磨和去毛刺作業(yè)中使用該系統(tǒng)完成了工件打磨與去毛刺軌跡的離線編程。應(yīng)用結(jié)果表明,該機(jī)器人離線編程系統(tǒng)能夠滿足打磨和去毛刺的應(yīng)用要求,具有一定的有效性和實(shí)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.
【學(xué)位授予單位】：廣東工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242
[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.
【學(xué)位授予單位】：廣東工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242
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