Hp-6 Robot Offline Programming Technology Research

HP6 robot researched by Motoman Company of Japanese, can program online to achieve the work of handling and welding by controller NX100 and Demonstration programmer NX100-PP, and it has been widely used in the automotive industry. However, its MotoSim EG systems only provide single-user access on off-line programming, and it can not meet the needs of the undergraduate students teaching experiment. Another drawback of EG Systems is that it only can plan the trajectory in the kinematic and can not be combined with the load condition of the joint, which have the risks of damage over the load. Based on the purpose of solving the above problems, the subject's main task is to research and development a off-line programming system that is independent of the EG-oriented and public undergraduate teaching experiment. The innovation is that Adams in the virtual platform generate various types of path curves, and the HP6 robot dynamically simulate and analyze along the planning trajectory, to identify the torque peak points of the joint (especially the big arm joint, that is, L joint) and use artificial means to deal with the peaks and the original motion simulation data. Ultimately, generate HP6 robot language code by the designed Delphi process, then communicate to the controller NX100 and achieved the off-line programming. In this paper, the major work is following:1.In the Adams Platform, HP6 robot create three-dimensional dynamic simulation model and the path curves to movement planning, combined with kinetic analysis, and modify the corresponding data of the joint to calm down the peak torque or peak section of the track to improve the robot movement by planning load environment, in order to improve the accuracy of the robot movement and safety;2.Through the experiment measure the absolute joint angle values and the corresponding value of the electrical pulse of the robot, and do curve fitting to obtain the joint angle values and the pulse function relationship by Matlab.3. Program the Delphi process. Including three module: reading the simulation data of joint, converting the pulse signal and generating the Inform II robot language program. Achieve off-line programming functions.4. By an example, examine the design of the off-line programming method and the accuracy of the movement. Movement respectively in the six joints, the error of simulation results is controlled in 0.002 degrees.In summary, this paper develop a stand-alone, combination of dynamic analysis and processing functions for undergraduate teaching experiments HP6 robot off-line programming system, and made some research results.