Research On The Off-line Programming System Of Four Degree-of-freedom Hybrid Robot

Because of the rapid development of modern logistics industry, hybrid robot whose main task is handling and palletizing as it's stable structure, small footprint, high load capacity,etc,is concerned by the most companies. For traditional robots, they need to be taught at each task point,also, the results of programming will be depent on the Programmers' experience,and complex paths will cost too much time.What's more,programming's accuracy is poor as well, staff's security can not be detected, so that it is to adapt to the needs of the modern logistics industry to efficiency and accuracy. So offline programming system is increasingly becoming the trend of development, A hybrid robot off-line programming system whicth base on VB for Solidworks' second development is studied, the main work is as follows:Firstly, the paper studies the key technologies of off-line programming system, and use Access technology, through Visual Basic for secondary development with SolidWorks API function to complete parametric design of parts, and then use the "from top to down" automatic assembly technology to complete virtual assembly model whitch has been created.Based on the hybrid robotic features, with 4 × 4 matrix method,use Space coordinate transformation, parametric layout of virtual work cell is completed.Secondly, based on the structural characteristics of hybrid robot, D-H coordinate is established and the method of separation of variables is used to solve kinematics of the 4 dof robot,and then verify kinematic analysis by the ADAMS simulation software and get the robot velocity, acceleration kinematics characteristic curve.Thirdly, with the optimize target of the shortest motion interpolation time,a method using outer point penalty function of the genetic algorithm is used for robot joint space‘s "P-T-P" trajectory Optimization. Because of motion interference and generate dynamic collision, a bounding sphere collision detection algorithm to detect the dynamic collision during dynamic motion simulation is adopted,and then a dynamic intersection test algorithm is carried out to verify the the feasibility of the collision detection.Finally, the modeling module, kinematics module, trajectory planning and automatic programming and status monitoring module are designed for the offline programming system,then a motion simulation module is designed by Active X way to verify the final results of theautomatic programming, and a COSMOS motion simulation with Solidworks is carried on.