Research On Offline Programming Of Robot Gringing Wheel

With the expansion of robot application,the field of robot has been further studied.Off-line programming technology,as a new direction of robot development,overcomes many shortcomings of traditional online teaching methods,and its research has been paid more and more attention.In addition,with the development of manufacturing industry to the direction of intelligence,there is also a need for matching intelligent programming methods.In order to develop a simple and efficient automatic programming method for industrial robot,this paper takes the robot grinding automobile hub as the research object,and transforms the hub CAD model into the point cloud model.After getting the point cloud file and preprocessing it,the terminal position and pose of the robot can be directly calculated by using the point cloud coordinate information,so as to improve the accuracy of the robot terminal motion,and at the same time,it also changes the working mode of the traditional robot teaching,reducing requirements for programmers.This article mainly carries on the research in the following several aspects.Firstly,the 3D solid modeling of the wheel hub is completed by using soildworks,and the entity is transformed into the point cloud coordinate database file by reverse engineering software Geomagic.After the completion of the database,the coordinates in the database are sorted,and the number of coordinate points is reduced and simplified according to the symmetry of the hub,and then the method of establishing the point cloud topology based on octree is proposed.This method is applied to point cloud neighborhood search experiment.Secondly,in order to achieve better surface fitting effect,the normal vector of point cloud is solved by using different polynomial functions to solve the normal vector of point cloud.Then,based on the normal vector of point cloud,the extraction experiment of hub edge point cloud is carried out.Finally,according to the extracted hub edge point cloud and the coordinates of the adjacent points,the D-H model in the robot homogeneous transformation method is used to express the position and orientation of the robot end actuator,and then the human-machine interface is designed to integrate the data in VB environment and according to the framework of robot programming language syntax,compiled robot executable program.The innovative achievements of this paper are as follows: in order to improve the efficiency of point cloud processing,a point cloud topology building method based on octree is proposed,and the point cloud neighborhood search experiment is carried out by using this method.The method can also be applied to reverse engineering to deal with massive point clouds,and a method based on normal vector to extract edge features of point clouds is proposed,and the feature extraction experiments are carried out.In this paper,the method of diagonal rotation is proposed,which is based on the point cloud computing robot end tool position and pose,and it is applied to the robot off-line programming.This paper proposes an a new idea for the implementation of the actual machine which inputs CAD model and converts it into a point cloud coordinate file.Based on the point cloud file,the point cloud coordinates are used to calculate the position and attitude parameters of the robot's end effector,and finally the pose parameters.Editing a robot-recognizable program and outputting.The feasibility of the idea was verified through experiments.