DELMIA-based Wiring Robot Kinematics Simulation And Secondary Development

With the continuous deepening of the process of industrial automation,traditional wire harness manual production methods can no longer adapt modern production requirements.In recent years,the rapid development of the industrial robot industry has made it possible for many jobs to replacement by using equipment.This article relies on the automated cabling equipment project.It mainly studies the application of industrial robots in the wiring process in the production of aerial harnesses,conducts simulation research on the cabling process of wiring robots with DELMIA,and develops an off-line program that generates off-line functions for automatic cabling and applies them in actual production.First of all,the working principle of the wiring robot is studied.From the standpoint of rigid body kinematics,the D-H parameters of the wiring robot were determined,a link coordinate system and a mathematical model was constructed.On this basis,the kinematics solution and Jacobian matrix of a six-degree-of-freedom routing robot are calculated,and the shortest distance rule is used to select the best solutions.The workspace of the wiring robot was drawn using Matlab,and the position of the singular solution was analyzed and solved.On the basis of the known routing trajectory,from the Cartesian space and the joint space,the wiring trajectory and the pose of the routing robot are optimized by interpolation,and the feasibility of the algorithm is verified by simulation.Secondly,combined with the DELMIA_IGRIP functional area,the system cabling process is simulated,and the cabling robot resource node and IK configuration are created in the virtual simulation environment.For the routing process of the wiring robot,the processing methods of the grabbing and wiring traces are analyzed in detail,and the Gant diagram is analyzed and optimized.Finally,starting from the actual production,the demand for off-line programming control of automated production equipment was proposed.According to the requirement,the offline programming function in DELMIA is matched with the wiring robot and the application in the automatic wiring project is realized.Through experimental research,the correctness of the off-line program is verified,grabbing and placing actions are performed,and the wiring work is completed successfully.