Research On The Technology Of Laser Cuttingpath Planning For 3D Surface Of Robot

With a rapid development and wide application of industrial robot laser technology,3D laser cutting technology has been more and more used in applications such as automobile panel trimming and mobile phone shell materials and cutting hole machining process.At the same time,due to the personalized needs of users in the manufacturing process is becoming stronger and stronger,small batch of diversified production model arises at the historic moment.The traditional robot teaching programming method requires robots to stop working,which reduces efficiency and costs.In this case,the robot off-line programming have more development space,its characteristic is to allow users in the current work can also make their own real-time applications,and can according to the specific circumstances of the laser path and angle of precise control.At the same time,due to the complexity of the three-dimensional shape of the machined workpiece in laser cutting,interference and singularity may occur between the robot and the workpiece during machining.In order to prevent the occurrence of such phenomenon,it is necessary to plan and control the path of laser cutting.In this paper,UG NX8.0 is used as the development platform,and VC++ is used as the development tool.The simulation and Simulation of the 6 axis manipulator used in this experiment are carried out,and the trajectory of the cutting path in off-line programming is also studied.At the same time mechanical arm movement calculation and simulation with Matlab software.The main contents of this paper are as follows:(1)First of all,the significance of the research and the current research status at home and abroad are described.After clarifying the research direction,the kinematics model is established according to the actual size of the integrity of the robot used in experiments,calculate the kinematics equation of the robot,and provides the theoretical basis for the motion planning.(2)Using the Robotics Toolbox toolbox module in Matlab software to simulate the three-dimensional kinematics simulation model of the robot,and verify the correctness of the kinematics equation of the upper section.Then based on the actual situation,the problem of singularity of 6-axis manipulator is deduced,the reason of singularity is deduced and the machining trajectory is optimized.(3)The postprocessing software for processing path point data of the workpiece information collection,then into the offline algorithm design of 6 axis angle,data import and the UG two development module,verify the feasibility of robot path in a simulated environment,and finally into the actual experimental robot in the system.(4)According to the actual machining situation,the machining experiments of the existing workpiece are carried out,and the problems existing in the actual machining are found.At the same time,changes in the off-line programming software,finally realized the precise control of laser cutting and laser incident angle in the process,solve the difficult to solve the interference phenomenon and singularity phenomenon of off-line programming problems in the process,we can greatly improve the machining accuracy and efficiency.