Research On3D Laser Cutting Platform Of Six-Axis Robot Based On VR

Laser cutting technology is one of the most important applications of the laserprocessing, and is applied firstly and most wildly. It has characters of high-speed,high-flexibility and high-precision. However, the cost of application of laser cutting isvery expensive, not only including the high cost of the equipment, but including thetraining of employees in high-cost. If utilize laser cutting equipments in practical use totrain employees, it will greatly increase the costs and risks.Virtual Reality (VR) has immersive and interactive features, divided into DesktopVirtual Reality System, Immersive Virtual Reality System and Distributed VirtualReality System. In this paper, laser cutting technology is combined with Virtual Realtytechnology to establish the desktop virtual3D laser cutting platform. This platform notonly could be applied in teaching and training for laser cutting employees, but alsoapplied in laser cutting technology research. To a certain extent, it could promote theapplication of laser cutting technology and make it better serve to social production.First, this paper presents the overview of the three-dimensional laser cuttingtechnology and virtual simulation technology at home and abroad. Secondly, useOpenGL and Visual C++to reconstruct the three-dimensional geometry model of robotand others constructed in Pro/E first, and to achieve robot motion simulation in virtualenvironment by solving forward and inverse kinematic equations of robot. Thirdly,research and resolve some key issues involved in the virtual simulation process, such asautomatic pick-up of three-dimensional cutting trajectory curves, calculation of vertexnormal on cutting trajectory and dynamic adjustment between axis of laser head andvertex normal in cutting process. Fourthly, simulate sparkles appearing in cuttingprocess by applying particle system, and analyse dynamic changes of attributesincluding source of particles, particle life cycle and motion characteristics and so an.Finally, utilize the control algorithm of overall three-dimensional laser cutting andcombine with the OpenGL lighting, material and double buffer technology to achievesix-axis robot three-dimensional laser cutting virtual simulation.This platform could display relatively realistic six-axis robot three-dimensionallaser cutting virtual simulation, and permit users to have real-time interactions. Itpossesses good interactive and real-tine performance. At the same time, it will lay afoundation for the further research work of this subject.