Research And Application Of Curve Surface Cut Programming Control Based On KUKA Robot

Since twenty-first Century, robot technology as one of the advanced technology of development high-tech rapidly, widely used in all walks of life. Robot arm in CNC system is mainly used in welding, cutting, assembly, processing, handling, palletizing and other complex work. Multi axis NC machine tool is an advanced technology with high content of science and technology and high precision, combining of computer technology, artificial intelligence, robotics, control flooding and precision processing technology. Phase line track cutting is generally applied to spatial complicated curved surface cutting, NC technology marks the degree of a country's development in industrial technology., Research and application of CNC system around the intersection line possessed both theoretical and practical significance.This paper summarizes the research status of CNC intersecting line cutting technology, in choosing the right on the basis of interpolation algorithm, establishing the curve of space steel tube formation of the complex mathematical model. In the case of a circular tube are, establishing the space rectangular coordinate system, Push derived round pipe intersecting in a common coordinate system of intersecting equation, arbitrary spatial perspective transformation of general intersecting equations in different coordinates. From actual production was studied the different under ideal conditions and wall thickness of the pipe intersecting line trajectory is different, With groove cutting must consider the pipe wall thickness and slope angle, the actual problem of cutting angle, cutting direction etc...Using VC++ to carry out discretization programming for the intersecting line equation, obtain the space coordinates of each node, to lay the foundation for the cutting trajectory planning and 3D simulation software MATLAB.The project not only needs overcome the difficulty of the intersecting line modeling, but also requires studies of the KUKA robotic arm and its independent programming. This paper get a knowledge of the spatial description and spatial coordinates transformation of the robotic arm, describes the motor direction and parameter between the axis with the D-H parametric method proposed by Denavit and Hartenberg, also discuss the solution procedure and properties of robot kinematics direct and inverse problem. The project plans the track of cutting process which is conduct by the terminal of robotic arm. In order to make the terminal run steady during the transition period, the project also processes the position and posture of the consecutive points in complex intersection line during the transition period. Using MATLAB to perform a three-dimensional simulation for each node coordinates, the simulate track results and actual production requirements can be compared. If the error is within the permissible range, we can using the node coordinates resulted from VC++ programming to accomplish the secondary development of KUKA robot and then we can operate test cut. Above all, we can reduce the waste of raw material, and achieve higher security.