Off-line Programming Systems Of The 4-aixs Jointed Robot Based On AutoCAD

In this thesis, using VB as programming development tools, applyingActiveX Automation technology for the secondary development ofAutoCAD, the off-line programming system of 4-aixs jointed robot based onAutoCAD has been established to get the robot trajectory automaticallyand to display the three-dimensional dynamic simulation of robot for the4-aixs jointed robot. The 4-aixs jointed robot has been used widely incutting, gelatinizing, and spray painting.In this paper, main research work is involved in the followed aspects:In the first part, ActiveX Automation, as the technology for thesecondary development of AutoCAD, has been introduced to generate robotpath and to gain geometry data of drawing from AutoCAD. Through dealingwith the geometry data of drawing from AutoCAD, the orientation ofEnd-effector of robot has been achieved. Therefore, robot job schemeshas been realized. According to data with the robot job scheme, the Motomanjbi file has been producted.In the second part, according to the data of the position andorientation, robot trajectory has been implemented. Through dealing withthe data of robot trajectory, the PMAC program has been producted.In the third part, making use of the technology for the secondarydevelopment of AutoCAD again, the three-dimensional model of robot hasbeen established and three-dimensional dynamic simulation of robot hasbeen implemented;Finally, the off-line programming system of 4-aixs jointed robot basedon AutoCAD has been realized to get robot trajectory automatically andto display the dynamic simulation of robot.