3D Modeling And Machining Motion Simulation Of Robots Based On MATLAB And V-REP

Industrial robot is one of the core equipment to realize the transformation,upgrade and intelligent manufacturing of manufacturing industry in China,and it belongs to the top ten areas of "manufacturing 2025".Industrial robots are mainly used to accomplish repetitive,heavy work,or work under hazardous conditions,such as handling,welding,assembling,spraying,polishing,etc.The application of the robot will improve the working environment of workers and improve the production efficiency and product quality.The robot task planning is carried out in the way of teaching programming,which has the disadvantages of cumbersome operation,low efficiency,low precision,occupation of robot working hours and difficulty in planning complex trajectory,and the robot off-line trajectory planning and simulation can avoid the above problems and become an important means of robot task planning.In this paper,the research on the three-dimensional modeling of robot and its working environment,machining trajectory acquisition,kinematics calculation and machining motion simulation in robot task planning are as follows:1?Based on the D-H method,the connecting rod connecting the rotary joint and the movable joint is divided into sixteen types,and a simplified model of the connecting rod is established by using a cylinder and a ball.The joint and link connection method based on the United coordinate system of joint and link is presented,and a three-dimensional constraint model fitting the motion mode of articulated robot is established.At the same time,the method of establishing the three-dimensional constraint model of the robot is given by introducing the precise three-dimensional model of the connecting rod in V-REP,and the exact model of the robot is established in the V-REP with the example of the FANUC-M101 robot.2?The direct selection or orthographic projection is used to extract the outer profile of the 3D model of the workpiece as the tool path,and the tool path information,such as the locus position,the straight line,the arc and so on,is obtained from the APT file or the IGS file.The setting method of the local coordinate system of the tool track point including the cutter axis direction is given,and the kinematics equation of the end tool movement along the given trajectory is established.The forward and inverse solutions of the kinematics equation are solved and verified by the MATLAB robot toolbox.The method of selecting the optimal solution is given when the inverse solution is not unique.3?A method of jo int motion simulation between MATLAB and V-REP is proposed.This method completes the calculation of robot joint variables in MATLAB,and completes the movement of robot 3D model in V-REP according to the joint variable value provided by MATLAB.This paper introduces the SOCKET real-time communication between MATLAB and V-REP,and gives the interface program,parameters and steps of setting up the communication connection between MATLAB and V-REP.At the end of the paper,the robot milling process of the melamine tableware was simulated,including the trajectory analysis of the robot milling edge,collision detection and avoidance,and the quality analysis of the milling edge based on the nearest distance of the tool workpiece.The simulation results show that according to the motion parameters of the robot joint,the robot can finish milling of different melamine tableware under the actual processing precision.