Research On The Assembly And Adjustment System Of Industrial Robot Based On Virtual Reality

With the development of "industry 4.0" and "made in China 2025",industrial robots are more and more used in industrial production,which leads to the increasing demand for industrial robot professionals.However,the production cost of industrial robots is high,the operation is complex,easy to damage,and the training cost is too high.The virtual reality based industrial robot installation and adjustment system developed in this project can provide training platform for enterprise personnel engaged in robot industry and teachers and students of colleges and universities.Based on the development platform of Unity3 D virtual reality engine and the starting point of teaching and training,this paper studies the VR(Virtual Reality Technology)assembly,VR motion simulation and control of industrial robots.Firstly,on the basis of industrial robot and VR technology,the functional modules of the system are analyzed,and the overall architecture is designed.Using Unity3 D virtual reality engine as development platform and HTC VIVE virtual reality equipment as human-computer interaction tool,an industrial robot assembly system is designed.Through the research and analysis of the modeling and interaction theory in the virtual reality scene,the virtual reality scene is built,the interaction mechanism is realized by vrtk,and a set of assembly script of industrial robot is built by using C# to realize the assembly function of industrial robot.Secondly,the kinematics and trajectory planning of EFFORT ER3 B are analyzed.The kinematics model of EFFORT ER3 B robot is built and the inverse kinematics solution of six joints is deduced.In order to realize the motion simulation of industrial robot,the trajectory planning including joint,straight line and arc is carried out respectively,and the realization steps of real-time control of robot in VR environment are also given.Thirdly,in order to realize the VR motion control of EFFORT ER3 B,a VR motion simulation system of industrial robot is developed by using Unity3 D virtual reality engine.In this system,we use unmanaged language(C language)to write the algorithm of industrial robot and encapsulate it into dynamic link library.We use managed language(C# language)to call the API function encapsulated in dynamic link library.The trajectory planning of industrial robot in joint space and Cartesian space is realized.Finally,the virtual teaching device is used to replace the traditional simulation display interface to realize the motion control of industrial robot.A typical application scenario of industrial robot is built to verify the virtual reality simulation system of industrial robot,and the feasibility of the system is verified by the application of industrial robot handling.