發(fā)布時(shí)間：2018-11-04 08:13

【摘要】：激光沉積制造技術(shù)(Laser Deposition Manufacturing,LDM)是在激光熔覆技術(shù)和快速原型技術(shù)基礎(chǔ)上發(fā)展起來(lái)的一項(xiàng)先進(jìn)制造技術(shù)。在激光沉積制造技術(shù)不斷發(fā)展的過(guò)程中,業(yè)內(nèi)不斷地對(duì)其制造工藝和制造設(shè)備進(jìn)行優(yōu)化升級(jí),逐漸開(kāi)始將工業(yè)機(jī)器人引進(jìn)到激光沉積制造領(lǐng)域。目前工業(yè)機(jī)器人在激光沉積制造領(lǐng)域的應(yīng)用仍然停留在傳統(tǒng)的示教編程層面,示教編程的缺點(diǎn)包括:對(duì)操作者的專業(yè)知識(shí)和操作技能的熟練程度有很高要求、現(xiàn)場(chǎng)具有一定的危險(xiǎn)性、示教的過(guò)程較為繁瑣、時(shí)效性較差、示教精度完全靠操作者的經(jīng)驗(yàn)決定、實(shí)現(xiàn)CAD/CAM一體化的激光沉積制造比較困難、難以滿足軌跡規(guī)劃復(fù)雜性和任意性等要求。因此,本文設(shè)計(jì)開(kāi)發(fā)了針對(duì)庫(kù)卡KR30-HA型工業(yè)機(jī)器人的離線編程與仿真系統(tǒng),從而避開(kāi)了示教編程方式的缺點(diǎn),提高了工業(yè)機(jī)器人在激光沉積制造領(lǐng)域的應(yīng)用水平?本文針對(duì)基于庫(kù)卡KR30-HA型工業(yè)機(jī)器人的同步送粉式激光沉積制造設(shè)備,利用CATIA二次開(kāi)發(fā)技術(shù)在CATIA V5環(huán)境下搭建了一套極具通用性和實(shí)用性的離線編程與仿真系統(tǒng),開(kāi)展了激光沉積制造掃描軌跡優(yōu)化、機(jī)器人運(yùn)動(dòng)學(xué)算法研究、動(dòng)態(tài)仿真系統(tǒng)開(kāi)發(fā)、機(jī)器人程序輸出等工作。通過(guò)對(duì)現(xiàn)有的計(jì)算機(jī)輔助激光沉積制造編程軟件進(jìn)行優(yōu)化升級(jí),實(shí)現(xiàn)了前置處理功能;輸出特定格式的分層切片掃描軌跡數(shù)據(jù),為機(jī)器人沉積制造過(guò)程動(dòng)態(tài)仿真和機(jī)器人程序輸出提供準(zhǔn)確的數(shù)據(jù)源;通過(guò)CATIA二次開(kāi)發(fā)技術(shù)在CATIA V5環(huán)境下設(shè)計(jì)并開(kāi)發(fā)了離線編程和動(dòng)態(tài)仿真模塊;實(shí)現(xiàn)了專用的后置處理功能,將通過(guò)了動(dòng)態(tài)仿真驗(yàn)證的軌跡數(shù)據(jù)轉(zhuǎn)換成機(jī)器人運(yùn)動(dòng)控制程序;最后通過(guò)開(kāi)展現(xiàn)場(chǎng)試驗(yàn)對(duì)系統(tǒng)功能進(jìn)行了全面驗(yàn)證,制件形貌和成型質(zhì)量達(dá)到預(yù)期要求,試驗(yàn)結(jié)果表明:機(jī)器人運(yùn)動(dòng)學(xué)算法準(zhǔn)確、位姿變換平滑;仿真動(dòng)作姿態(tài)與實(shí)際完全一致;輸出的機(jī)器人運(yùn)動(dòng)控制程序準(zhǔn)確。有效提高了工業(yè)機(jī)器人在激光沉積制造領(lǐng)域的制造效率和應(yīng)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.
【學(xué)位授予單位】：沈陽(yáng)航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242;TG665

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本文編號(hào)：2309254