Design Of Industrial Robot Production-line Simulation System And Research On Its Key Technologies

Simulation is an important component in robot research fields. Robot’s performances can be verified by simulation experiments, which has been one of the essential ways for robot researches. The technology of production-line simulation can visually make an analysis of the production-line’s layout and give reasonable optimized plans, which avoid aimless business investments. Therefore, industrial robot production-line simulation system is of much significance to researching and applying robotic technologies. In this paper, the simulation system’s hierarchical and modular structure is designed. Moreover, key technologies are researched which restrict the production-line’s performances. Then, this paper conducts the graphical simulation of single robots, a robot welding workstation and a welding production-line. And simulation experiments prove that the simulation system is universal, practical and stable.Firstly, this paper analyzes the research status of robot simulation and production-line simulation home and abroad and elaborates the main existing issues. Then, the modular structure of the simulation system is designed, which is composed of three modules including the core engine module (the rendering module and the physics computing module), simulation objects’model building module and interface module (hardware-in-the-loop simulation interface, control algorithms developing interface and human-computer interaction interface).Subsequently, modified algorithms are proposed in terms of the key technologies used in the production-line simulation system. In order to improve the real-time rendering efficiency of 3D large-scale scenes, algorithms including real-time blanking technology based on improved Z-Buffer and LOD model quick simplification algorithm based on normal quadtree and limited quadtree are introduced. Otherwise, this paper separately realizes the three-dimensional modeling of simulation objects based on both WRL and OBJ file formats.Finally, the industrial robot production-line simulation system conducts the graphical simulation of industrial robots like XinSong arc-welding RH-6A, KUKA KR16-2 and BUAA6R, and also realizes the combined path planning based on KR16-2 and the positioner. Otherwise, this paper makes a sequential simulation of the RGV in the welding production-line. Simulation experiments show that the industrial robot production-line simulation system is universal to kinds of robots, and can also conduct layout and attempering simulation of the production-lines.