The Research In Off-line Programming And Simulation System Of Industrial Robot In Laser Deposition Manufacturing

Laser Deposition Manufacturing is an advanced manufacturing technology which developed on the basis of Laser Cladding and Rapid Prototyping.With the development of laser deposition manufacturing technology,technology and equipment were constantly optimized and upgraded,and gradually the industrial robot began to be introduced to laser deposition manufacturing.Currently,industrial robot applied in laser deposition manufacturing still stay in traditional teaching programming level,whose disadvantages include high requirements of professional knowledge,professional skills of operators,danger of the scene,the difficult process teaching and low efficiency.The precision of the teaching is completely determined by operator experience.The integration of CAD/CAM in laser deposition manufacturing is difficult,the same as meeting the complexity and randomicity of scanning planning.Therefore,off-line programming-simulation system of KUKA_KR30-HA was designed and developed in this paper to solve the disadvantages of teaching programming and improve the application level of industrial robot in laser deposition manufacturing.In this paper,a set of generality and practicability off-line programming-simulation system was build.The optimization of laser scanning planning was carried out.The algorithm of robot kinematics was researched and the dynamic simulation system was developed.The program of robot was output by the use of CATIA secondary development technology under the environment of CATIA V5 of based on KUKA_KR30-HA which is the synchronous feeding type laser deposition manufacturing equipment.The realization of preposition function including a specific format slice scanning track data output and accurate data source was provided to the process of dynamic simulation for deposition manufacturing and the output program of the robot based on the optimization and upgrading of existing computeraided programming software.Off-line programming-dynamic simulation module was designed and developed by CATIA secondary development technology in the environment of CATIA V5.The dynamic simulation of trajectory data was translated to the robot motioncontrol program by the post-processing module.Finally,the system function was tested in reality.The results of test showed that the robot kinematics algorithm is accurate and pose transformation is smooth,while they are in completely accordance with the actual simulation.The output robot motion control program of the system is accurate.The manufacturing efficiency and application level of industrial robots were effectively improved in laser deposition manufacturing.