Design And Development Of RB Series Robot Off-line Programming Software

Industrial robots are widely used in modern manufacturing;manual teaching programming operation robot will become increasingly difficult to meet the application requirements of process.Based on the importance of industrial robot offline programming software,studying technology of industrial robot offline programming,An off-line programming software is developed to support the RB series robot of GSK CNC EQUIPMENT CO.,LTD.,finally the software was successfully applied in the actual process.Based on robot kinematics analysis,M-DH method is used to analyze kinematics algorithm of RB series robots.Establish robot coordinate system,positive kinematics solution can be got by connecting rod transform method and inverse kinematic solution can be got by analytic method,finally gives a cooperative strategy between industrial robot and external shaft,such as displacement machine.Through analyzing the demand of the off-line programming software,puts forward 3D display method for RB series robot,the robot joint order discrete into STL triangles,connecting rod depict to coordinate position;During the trajectory paths was generated by NC file,Expounds the file parsing method,code conversion,coordinate movement.To file parsing,gives out the NC motion instructions for robot motion mapping relationship.To code conversion,puts forward the detailed method translate the knife axis information of NC file to generate the industrial robot posture by combining with the machining path.To coordinated movement,puts forward using the coordination factor to distribute the movement between industrial robot and external shaft.Due to the importance of the robot motion simulation and interference check,gives the method of motion simulation and collision interference detection.Based on the research above,the off-line programming software system is developed by using Visual C + + and OpenGL library,the software successfully applied in the actual process of robot off-line programming,verify the off-line programming technique proposed in this paper the correctness of the scheme and function module.