Research On Virtual Assembly Line Robot Simulation Software Based On OpenGL

Because of the increase of production efficiency using the robots,the application of industrial robots has become a common phenomenon in the world.For different production requirements in the factory,drawing up an operation plan using the robots on the assembly line becomes the primary task of the production designer.Development of the robot simulation software is an important channel solving this problems,which improves the disadvantages of tedious and inefficient about pipelining planning and robot debugging using the traditional methods.The application of virtual reality technology in the simulation software makes possible to plan the job steps of the robots in the assembly line in the virtual environment.After learning the status of domestic and foreign industrial robot simulation software,this topic combines the virtual reality technology and robot technology to develop a highly efficient virtual robot simulation software.And through a specific production task,the specific process of building simulation software and research methods are described below:Formulating the target of the simulation software,make clear the component of the software including the virtual model module,kinematics analysis module,motion control module of the robot and collision detection module,and determine research method of each module,formulate the overall scheme of software finally.Aim at a common industrial assembly line production task,analysis the task and propose the solution.According to the solution of the task,select the robots on the station.Analysis the forward and inverse kinematics,and verify its correctness.Drawing the working space of the robot,and compare the work space with the minimum working space of the job requirements to judge whether the robot is selected correctly,completing the choices of the robot module in the robot library.In the SolidWorks software,the 3D models of the virtual assembly lines,the robots,the workspaces of the robot and the workpieces are set up,and the virtual models are built by means of format transformation in the software.A trajectory planning algorithm is proposed to control the robotic end effector to do uniform linear motion based on the position and attitude parameters of the beginning point and the last point,and the master-slave mappingalgorithm of Phantom Omni robot controlling different virtual robot model motion is proposed,completing the motion control module of the robot.Aiming at the different models in the virtual workshop,the collision detection method based on the bounding box is established to realize the collision detection function.Using MFC platform and OpenGL technology to build the display window and control panel of the virtual workshop environment,integrating each module to achieve a good human-computer interaction and finish establishing the simulation software finally.According to the task,the whole process of actual production task are solved virtually in the software.Formulating the job steps using the two different motion control methods of the robots,and record the relevant parameters,completing the animation simulation of the robot operation plans in the virtual assembly line.