Research Of Virtual Machining Technology Of Laser Processing Robot With Multi-degree Of Freedom

Off-line programming technology of robot is a language extension of programming language of robots, which uses planning algorithm to control virtual machining process of robot in a virtual production environment. Compared to traditional online teaching programming, off-line programming technology saves a lot of time and increases productivity. Therefore, research of virtual processing technology of laser processing robot with multi-DOF is necessary. The work mainly finished includes as followed:(1) The research situation and development trend of the domestic and international laser processing industrial robots and off-line programming technology and laser cladding technology are analyzed. Then, for industrial robot of IRB1410, the characteristics, structural parameters, kinematics etc are researched, and the forward and inverse solutions of robot kinematics are calculated. Then the movement speed of the robot is analyzed.(2) The general problems of robot trajectory planning are analyzed, the linear and cubic polynomial function interpolation are detailly introduced for trajectory planning of joint space under different conditions. Linear function and circular interpolation are deeply studied for the trajectory planning of Cartesian space. Then, the advantages and disadvantages of trajectory planning of Cartesian space and joint space are compared.(3) The function of MATLAB's GUI is used to design the simulation software of laser processing industrial robot with multi-degree of freedom. Througn the relevant motion parameters are setted, the motion of mechanical arms with multi-degree of freedom is simulated and the movement space of mechanical arms is detected in order to detect whether there is the empty space or cavity and analyze effectively the movement space which mechanical arms can reach. (4) Though OpenGL application and its specific implementation methods are researched in the simulation technology of industrial robot, the off-line programming simulation software of laser processing industrial robot with six degrees of freedom is designed. The software is a simulation software based on VC++ software, and the robot prototype is a ABB-IRB1410 industrial robot, and the main functions include collision detection, forward movement, reverse movement, laser engraving, laser deposits etc. Therefor, virtual machining process of laser processing industrial robots with six degrees of freedom is more effectively simulated.