Off-line Simulation System For Industrial Robot Based On SolidWorks

In this paper, the significance of industrial automatic line and the importance ofrobots in automatic line are investigated. Based on lots of analysis and research forrobot off-line simulation system all over the world, an industrial robot off-linesimulation system which has good interchangeable and plenty functions is developed.Based on the powerful3D modeling capabilities of SolidWorkes, somedevelopment tools were used in the off-line simulation system, such as Visual C++and a large number of SolidWorks API functions. Secondary development function ofSolidWorks were taken advantage by Visual C++.A variety of functional modulesare connected to the SolidWorks as the form of DLL files.The off-line simulation system is constituted by some important modules, and thissystem includes establishing parametric models.Robots load checking, trajectoryplanning, kinematic calculations, automatically generating programs Etc. The mainresearch contents can be seen in the following:(1) In this thesis,offline simulation systems and key technologies were studied,and an overall plan of offline simulation system for industrial robot was designed.(2) Parametric models were established based on the secondary developmentfunction of SolidWorks,and parameterization of standardized equipment parts.(3) A payload checking model which has good interchangeable was built basedon the analysis of varieties Robots.(4) The method of cubic polynomial interpolation and parabolic transition ensurethe smooth orbit of the robot.(5) The D-H coordinate and wrist separating from arm method were used inorder to achieve the kinematic calculations，a kinematic module was designed.(6) The program automatically generating models was generated by reading theprograms to “Edit” control.