Research And Development Of Off-line Programming System For Sheet Metal Bend Operating Robot

With the deepening of the traditional structural reform of the manufacturing sector and the disappearance of the domestic demographic dividend,industrial robots are getting more and more attention in all walks of life.The robot off-line programming system has more advantages than the teaching program,for its advantages in cost,programming difficulty,safety and efficiency.This paper focuses on the field of sheet metal bending,faces to Automatic robot sheet metal bending operation control,develops a set of off-line programming system for sheet metal bending operation robot integrated with simulation and programming functions.The paper based on the functional requirement analysis of off line programming system for sheet metal bending operation robot,planned the overall structure of the system.Qt and OpenGL are taken as the software development platform,detailed planning and design of each module of the system is taken.3DS format file is used as graphics support,the design of the 3D modeling function of the system based on OpenGL is completed.The algorithm of forward and inverse kinematics of robot is established.Algorithm for the better solution in the multi solution based on joint properties is introduced,the trajectory planning function module of robot bending operation is designed and developed.The path planning and programming of sheet metal bending are completed based on sheet metal bending process.The collision detection algorithm for bending and blanking process based on bounding box and space triangle fast intersection detection is designed and developed.The robot bending servo algor ithm and related functions is designed and developed.The geometric model of robot bending is established,then the design and implementation of the robot bending and following algorithm is completed.Finally,learn from the commercial robot programming language system on the market,a set of flexible programming language system is established.According to the production demand of bending,the design and verification of human-computer interaction interface and the main modules are completed.