Study Of Painting Robot Man-machine Interaction And Off-line Programming System

As a typical mechatronic product, robot represents the highest achievements of mechatronics. It can improve production efficiency and product quality, reduce the labor intensity of workers, and even complete the task man can not. It is proved by many application examples. In robotics research, the man-machine interaction and off-line programming and is a difficult study field. It relates to that whether the robot can successfully complete the task. This article is to in-depth study on off-line programming and man-machine interaction system of the painting robot. The subject of research project is supported by Guangzhou NC Equipment Co., Ltd.(GSK).Firstly, this paper analyzes mechanical body of the six degrees of freedom painting robot and PC-Based control system hardware platform and control software. On this basis, the robot man-machine interaction interface is in-depth analyzed. This paper builds the user interface platform based on ARM + Win CE and implements the robot man-machine interaction interface with C#.Based on the robot kinematics model, the paper derived kinematics positive solution and inverse solution. It provides kinematics support for the design of robot off-line programming system.Then, this paper establishes the whole structure of painting robot off-line programming system and describe the function of each module. Using the three-dimensional modeling software Solidworks 2009, this paper develops parametric models of painting robot body to adapt to different sizes of painting robot modeling. And based on parametric modeling, Using secondary development technology of Solidworks 2009, the off-line programming system of painting robot is realized.This paper also Researches in the obtaining and optimizing methods of workpiece surface information. Through the data interface file STL to get the information of workpiece surface. After many processes such as extends the unit vector of the data in the STL file, removal the outlying points, slice data points and optimize slice data , then get final optimized data points of the workpiece surface.Finally, by a series of tests of the various functional modules in the painting robot off-line programming system based on Solidworks secondary development. After painting robot was modeled, workpiece is imported, the painting robot off-line programming system automatically get robot off-line motion simulation, and output the displacement curves of wrist and end of the robot, the curves of each joint angle, the robot instruction file. The simulation results indicate that the robot off-line programming system reaches the expected requirements.