The Design And Development Of Interface Of Welding Robot Off-Line Program System

The development of industrial robot has gone through two steps, which are Teaching and Playing and off-line programming. Recently the development of robot flexible automotive system based on off-line programming delegates the secondary development direction of robot system. This research which is based the former research result, combined with the practical robot implement development projects in the auto industry, aims at the secondary development of robot off-line programming and simulation system—WinROBWeld. Which is based on PC, developed in the our lab.At the beginning of WinROBWeld development, it aimed at the IRB2000 robot of ABB, which used the S3 serial control system and ARLA programming language. But now the robot used in our lab are IRB 140, which uses the S4Cplus control system and RAPID programming language. So there are some problems about the modeling and program conversion interface, and the communication interface hasn't been set up, as a result, the system hasn't been really applied in lab. In the need of project research development in practical production, the system should be used to off-line program and be connected with the IRB 140 robot. According to the above situation, the WinROBWeld was be developed again based on the analysis of S4Cplus robot system and RAPID. And the main work focuses the following three facets'development: workpiece 3D modeling, communication model and program conversion model developmentWorkpiece 3D modeling was realized in two steps. Firstly the workpiece is exported in VRML format by other CAD system, and then converted to wpc format by the converse on tool. So the main task of workpiece modeling is the development of this conversion tool. This is because the VRML is supported by most CAD system, which protocol and code is public. In the thesis, based on the analysis of the grammar and structure of VRML 2.0, the conversion algorithm was designed again. The conversion tool was designed and developed, which also supports the position function by editing the position parameter.Communication model is used to realize the communication between system and actual robot. And this model was realized by two communication technique. The one is the conditional communication technique, the other is network communication...