Assembly Robot Offline Programming System

This paper takes the assembly robot on compressor product line as an example to carry out an initial research on robot off-line program. By establishing Descartes coordinate of assembly robot and applying coordinate transformation to derive converse and positive kinematics equation of the assembly robot, we study the solution of kinematics equation of the assembly robot. At the same time, we formulate the robot dynamics in the way of Lagrange. By computing and analyzing, we provide a reference for the analysis of robot's control.This paper studies trajectory planning of the assembly robot on the basis of off-line program system, realizing trajectory planning under the condition that have several targets and fixed obstacles, and presenting simple interface of task description for user.This paper finishes modeling and simulation of assembly robot. Furthermore, bringing forward a suit of thought for general modeling. In term of production, we study FMC reliability model and productivity of the assembly robot on the compressor product line. Finally, the paper introduces program design of robot off-line program system.