Off-line Industrial Robot Programming Software Based On UG Software

With the implementation of Intelligent Manufacturing Engineering in our country,industrial robots are more and more widely used in industrial production.In the application of the robot,in order to achieve relatively simple operations,such as basic movement,spot welding and spraying,teaching programming can meet the requirements.While it is not suitable for the process which calls for more high machining accuracy and more complex trajectory because of its low machining accuracy and poor efficiency.Off line programming can improve the precision of machining path and the programming efficiency.Therefore,the off-line programming software based on UG platform is developed after studying the off-line programming software of robot at home and abroad.The details are as follows:(1)The forward and inverse solutions of robot kinematics are derived according to the 6 axis D-H robot kinematics model with the link parameters of YASKAWA MS165 robot.In order to solve the problem about multiple solutions,the optimal solution algorithm is introduced,which takes the rotation range of each link of the robot,the minimum square sum of the rotation angles of the 6 axes and the interference check results as the limiting conditions.(2)Design of off-line programming software.The main functions of UG software,the tools and processes of the secondary development are analyzed.So,secondary development of UG is conducted based on Visual Studio.It introduces the whole architecture of the software,focusing on the key modules of workpiece localization,trajectory planning and motion solving,motion simulation and interference checking,and robot postprocessing.(3)Application of off line programming software in 3D laser cutting of robot.The background of robot laser cutting,the classification of laser cutting system and their respective advantages and disadvantages are introduced.The robot 3D laser cutting system consists of industrial robot system,laser system,high precision capacitive servo following system,PLC control system and auxiliary gas supplying system.The specific parameters and the performance of the key equipment are respectively introduced.The robot laser cutting experiments are conducted in order to verify the practicability of 3D laser cutting robot system and its off-line programming software.The results show that compared with the teaching programming of laser cutting experiment,off-line programming software has a great advantage in track precision and programming efficiency.(4)Application of off line programming software in Flexible punching system of robot.The background of hole making for automobile panel is introduced.The flexible robot system of automobile panel includes robot system,punching pliers,high precision rotary table,safety protection device and PLC control system.A robot end effector for industrial robot punching-punching plier is designed,which realizes the "soft approaching technology" and "Force Adaptation Techniques".The experiment of robot punching process is carried out and the accuracy and practicability of off-line programming software are proved.And through comparison with other punching process,we can find that the off-line programming software has a significant improvement in efficiency compared with the teaching programming.