Path Optimization And Simulation Application Of Off-Line Programming Of Industrial Robot For Polishing

Industrial robot technology is widely used in automated production lines in various industrial fields.The characteristics of multi-variety,small-batch,and high-standard production of small bathroom products depend more on offline programming path planning technology,which is also the key to solving the processing efficiency and processing quality.In this paper,the off-line programming path planning technology for polishing is studied for the purpose of convenience and efficiency.Based on the intelligent polishing system of ABB 4400-60/1.96 industrial robot belt successfully developed by this team,the products are Copper alloy faucets with multiple freeform surfaces,the main findings are as follows:1)Analyzed the relationship between pose transformation among coordinate systems of the industrial robot belt polishing system.Based on the previous research of this research team,the kinematics of industrial robots were used to calibrate the workpieces and fixtures.For different workpieces,the original scene experient calibration is converted into a calculation and analysis calibration,simplifying the calibration process of different workpieces.2)Since the mathematical model of the product was completed under 3D drawing software such as SolidWorks,the of SolidWorks API was used to achieve the purpose of directly obtaining the using location information of the workpoints in the SolidWorks modeling environment.Related calculations,we have obtained the position of the knife position and output the RAPID code that can be directly operated on the robot;for the convenience of the user,a visual application interface that allows the user to quickly set parameter is designed using VB language.Compared with the previous polishing effect,the polishing effect of the product used this scheme is further improved.3)This paper Proposes a non-polishing state path planning method,namely,use heuristic search method of genetic algorithm to plan an optimal path,initialize population and related genetic operations in joint space,add constraints in Cartesian space,respectively.From the shortest path,the minimum sum of the joint interval,and the minimum sum of the path intervals,the optimization was carried out,and the optimal individual simulation motion was performed using OpenGL technology,and a shortest uniform path without collision was obtained.4)According to the actual processing environment and processing requirements,the non-polishing working path optimized by genetic algorithm and work point designed by the SolidWorks API program.A reasonable polishing path was planned between adjacent surfaces,and several work point were designed according to the characteristics of off-line programming and the appearance characteristics of the products.After the simulation and debugging,the actual polishing of the faucet was performed on the spot.During the operation of the polishing unit,the running time of the non-polishing working path is reduced,the surface roughness of the faucet is reduced to some extent,and the polishing surface of the transition between different surfaces is even and smooth,so polishing efficiency and machining quality have been improved.