Design And Implementation Of The Off-line Programming System For Six DOF Industrial Robot

Industrial robot programming consists of on-line teaching programming and off-line programming.Off-line programming compared with on-line teaching programming has several features,including programming with high precision,saving time of production,ensuring the safety of programming operators and so on.With the development of manufacturing industry,it's of greatly practical significance to study the off-line programming technology of robot.In this paper,the typical features of industrial robot off-line programming system are summarized through the analysis of the mainstream off-line programming software at home and abroad.The basic framework of off-line programming system is built.The processing technology module and the generic function module are constructed.And the effectiveness of system is verified by means of the module of post processing.The off-line programming system in this paper uses SolidWorks as the fundamental modeling platform,combined with mathematics library,robot kinematics library and OpenGL.Meanwhile,the path interpolation algorithm is constructed,ensuring the accuracy of the machining process.According to the working characteristics of industrial robot,the robot processing technology modules are constructed,including the robot off-line cutting module and the robot off-line polishing module.The robot off-line cutting module is used to deal with the hole cutting of different kinds of machining objects,to generate reasonable welding groove and to meet the welding demand.The robot off-line polishing module is used to meet the specific grinding requirements.The transformation function of cycloid form polishing path is proposed for fixed grinding.The transformation function of fixed point polishing path is proposed for movable grinding.As the key content of the robot off-line programming system,the generic function module can improve the efficiency and effectiveness of off-line programming to some extent.In this paper,three functional modules are constructed,including the off-line programming for non-standard work-pieces,path adjustment and cooperative motion of the robot-positioner system.The off-line programming of non-standard work-pieces is based on the theoretical 3D model and the machining path is obtained through peripheral auxiliary sensor to improve the machining precision.Path adjustment function can optimize the machining situation with redundant freedom and improve the continuity of machining path.In order to implement the function of cooperative motion of the robot-positioner system,the cooperative path algorithm of ellipse transfer is presented,which can improve the machining ability of robots.Finally,the paths based on the off-line programming are built for some actual machining objects through the post processing module.The validity and reliability of the off-line programming system are verified and this system can meet the demand of specific processes at present stage.