Research On Robot Automatic Programming Of Flywheel Shell Deburring Based On V-REP

At present,most of the methods of deburring programming with industrial robots are manual teaching on site or manual programming with off-line programming software.In the process of programming,the selection of deburring contour and the programming trajectory of robot are all done by human,which leads to low programming efficiency.Therefore,this paper proposes a programming method of recognition and detection of workpiece model by visual sensor on V-REP platform,then data processing of the generated image,and finally automatic generation of robot deburring processing track.In this paper,the workpiece model of flywheel shell is taken as the processing object,the practical application scene is abstracted,and the V-REP simulation platform of deburring system is established.Through its internal vision sensor to identify and detect the workpiece model,so as to obtain the image information of the workpiece model.Then,the contour edge is extracted by the contour edge detection operator of Canny filtering system,and a binary image with only boundary contour is generated.Open CV is used as a plug-in of V-REP to process image information,and the pixels in the same contour are reordered by contour tracking algorithm,and the hierarchical relationship of each contour is established.By comparing the height values of the contour pixels and the adjacent pixels on the left and right sides,the contour that the robot needs to process is screened out.The contour of each processing contour is segmented,and the straight line segment and arc segment are extracted by Hough transform,and other types of curve segments are polygonal fitted.The contour curve is offset to generate the machining coordinate points needed for robot programming.In this process,the motion parameters of each joint axis are obtained and the programming code files are generated.Finally,the programming code is imported into DELMIA for program verification.The research of this paper shows that the visual sensor and off-line programming technology of industrial robot based on V-REP platform can realize the autonomous programming of deburring of flywheel housing robot,and effectively improve the efficiency and accuracy of programming.