Development And Application Of A Robot Off-line Programming System

In order to enhance the level of manufacturing industry and accelerate the transformation and upgrading of enterprises,a large number of robots are being widely used in various types of production and manufacturing.Currently programming with teaching pendant is still the main way for industrial robots to finish some low-level work,such as handling,stacking,feeding and blanking.However,facing to the complex processing tasks,the shortage of robot programming ability,to a great extent,restricts the performance of the play.The traditional manual teaching method already can't adapt to the requirement of intelligent manufacturing.Modern Automation manufacturing system requires programming with high intelligence.Off-line programming not only can overcome the shortage of programming with teaching pendant,but also is able to take advantage of the performance of robots to complete the task of higher accuracy.Nowadays robot off-line programming technology is becoming more and more popular,many research institutes have done a lot of work on it.After analysing the state of art of numerous robot off-line programming and simulation systems at home and abroad,this paper closely studied the basic technology of robot off-line programming and simulation system.This paper summarizes the overall scheme of robot off-line programming system,established the system main frame based on three-dimensional modelling software,primarily research robot Cartesian space trajectory planning,robot calibration,etc.A set of robot off-line programming system which is accurate,efficient,strong commonality,high cost performance and convenient operation has been developed.And it is named after BW_OLP.The main work of this paper includes:1.Insight into the line,arc and spline geometric primitives,analyse their mathematical models and geometric characteristics,study the interpolation algorithm of Cartesian space line,arc and spline on the basis of computer graphics.Then calculate path points and optimize trajectory in order to guarantee the stability and security of the robot movement.2.Through Analysing current robot calibration technology,research a practical robot calibration method according to the actual requirements.Develop a robot calibration module integrate with off-line programming.This calibration module,which includes workpiece calibration and multi-robots base frame calibration,can match the virtual environment with the real environment.It is easier to improve programming precision and reduce error with the help of the calibration module.3.After studying the hierarchy of SolidWorks API and being familiar with the function interface,this paper developed a robot off-line programming system named BW_OLP using COM technology.This system,including path acquisition and processing module,posture adjustment module,data conversion module,motion simulation module,post processing module and other basic modules,realized the main functions of off-line programming system.4.BW_OLP robot off-line programming system is applied to robot polishing and deburring.Combined with polishing and deburring craft,BW_OLP finished complex trajectory programming and simulation,generated robot code.Application results showed that this system has a certain practicality.Based on the above research work,this paper developed a set of robot off-line programming system,this system is applied to a robot polishing and deburring application and results show that this off-line programming system can meet the requirements of grinding and deburring applications,this robot off-line programming system BW_OLP is of certain effectiveness and practicality.