The Design And Implementation Of An Offline Programming Simulation System For Six Joint Industrial Robots

The development of computer and information technology makes the development of industrial automation higher and higher.The degree of industrial automation reflects the level of national industrial development,and industrial automation can't develop without industrial robots.At present,the intelligent degree of industrial robot is higher and higher,and the design is more and more complicated.In order to reduce the cost of research and design,improve the safety and stability of the robot.The emergence of offline simulation technology has become an important technology in solving the design and teaching of robots.Relevant technical research is improving.Relatively mature off-line simulation technology requires expensive costs,which may be difficult for some small enterprises.The article on the basis of the current industrial automation environment,compared to the reference current more mature offline simulation technology,design a kind of can meet some of the small and medium-sized enterprise operating offline simulation system software.Based on the laboratory existing general six joint industrial robot as the research object,analysis of the industrial robot user requirements,design and finish a have good performance of six joint industrial robot off-line programming simulation system.Which mainly includes the following aspects:(1)Analyze the kinematics and motion planning of six joint industrial robots.In this paper,the mathematical modeling of the six-joint robot is carried out,the kinematics equation is established,and the kinematics and inverse solutions of the six joint industrial robots are studied.It lays a good foundation for the next step of robot trajectory planning.(2)According to the kinematic characteristics of the joint industrial robot,the different trajectory planning algorithms are analyzed.Comparing the advantages and disadvantages of various algorithms,combining the characteristics of commonly used optimization algorithm,design a kind of system can be ensured results are accurate,and can guarantee the system stability,at the same time trajectory planning algorithm can improve system performance.(3)Refer to literature and investigation and analysis of simulation system is the user's actual demand,based on the Qt development environment,use auxiliary software such as 3 d Max,the idea of modularization of software engineering development.Analysis and design of 3d motion simulation and off-line programming simulation are completed.(4)Complete the integration and testing of the offline programming and simulation system of the six-joint general industrial robot.Results show that the system is a simple and easy to use offline simulation system with good scalability and cross-platform.In this thesis,I completed the research and design content to enhance the automation of small and medium enterprises have important significance,also for teaching and improve the performance of industrial robot research has laid a good foundation.