Research On Off-line Programming Technology For Industrial Robot Machining

As the one of automation equipment, industrial robots has been widely used in various industries, with integrating a set of advanced technologies. In the machining industry, because of its flexibility, high degree of automation, programmability and versatility, industrial robot is becoming an important direction of development of industrial manufacturing.In this paper, as the object of study, the KUKA KR210 industrial robot is developed to make the flexible machining system platform. On the basis of it, flexible processing off-line programming technology research is carried out.Firstly, KR210 robot flexible machining platform is developed. The machining spindle is connected with robot body through an adapter flange. A PROFIBUS/DP-based frequency converter control system is designed, which makes it integrated with the KUKA KR C4 control system. Host PC complete CNC design of the CAD mode, and conduct the robot system configuration of digital signals. The programmability and automation for processing parameters is realized through teach programming of handheld programmer. Then, the forward and inverse kinematics analysis of KR210 industrial robots are studied, providing a strong theoretical foundation for the conversion of the processing trajectory.Secondly, the method converting cutter location source file(CLSF), which the UG CAM system output, to KUKA KRL robot programming languages is studied. It solved the transition point from a circular path, coordinate transformation and tool compensation technology. It implements the conversion between the two programming language.Meanwhile, a KR210 robot flexible machining offline programming software system is established. According to KRL language features and conversion method, reasonable data structure is designed. As an application development platform, Visual Basic is used to develop transcoding module, which can transfer CLSF tool path to KRL programming commands. The module can output.src robot offline programming file. With the basis of MATLAB Simulink, the KR210 robot machining trajectory simulation software system is established. It can make forward and inverse kinematics for KR210 robot, display real-time model simulation and show the processing trajectory. For users, it may be a good platform to understand the robot motion to verify the feasibility and correctness of processing trajectory.Finally, the rationality and feasibility of KR210 robotic machining system is verified by a carving experiment.