Research And Development Of Cross-Platform Simulation System For Industrial Robots

With the advancement of industrial automation technology,the application of industrial robots with high efficiency,high safety,and high flexibility in the manufacturing industry is becoming more and more widespread.Robot simulation systems that can improve the efficiency of robot engineering development and reduce development costs have also become a hot research direction.From the perspective of the signal interaction between the robot simulation system and the PLC controller,this paper develops an industrial robot cross-platform co-simulation software that integrates the functions of robot three-dimensional simulation,communication,sensor simulation,robot program analysis,and motion trajectory planning.The main research contents of this paper are as follows:Taking the cross-platform co-simulation software of industrial robots as the research object,the architecture of the simulation system is studied.Using the principle of layered design,the simulation system is divided into a business demonstration layer,a logical operation layer and an interface layer.The man-machine interface,language interpreter,communication module,motion control module,and virtual sensor module are designed using the method of sub-module design.Through the comparative analysis of the simulation system development platform,the system development is determined using Unity-3D with the aid of 3D modeling software.The modeling method of the simulation system is researched.Import the model into the Unity-3D platform according to the assembly principle of the parent-child model tree,and then use the D-H parameter method to model the robot kinematics and then derive the kinematics forward and inverse solution process.Based on the solution of the kinematics model,the end trajectory of the robot is studied,and the linear and arc trajectory interpolation of the industrial robot is realized.The language interpreter in the simulation system is studied.Analyze and classify the instructions of the industrial robot programming language.Analyze the robot program by using the progressive scan method,compare the set to which the instruction belongs,perform string operations,extract valid program information,convert and execute it.The human-machine interface is drawn using WPF to simulate the interaction between the system and the operator.The communication module of the simulation system is researched.The communication module is developed using the TCP protocol for the communication between the simulation system and the PLC controller.Robots and other devices in the simulation scene can all be used as intermediary communication modules to realize data exchange with PLC.In addition,the sensor function is also simulated in the simulation system to realize some types of virtual sensor functions.Finally,according to the needs of actual production cases,an industrial robot simulation scene was built,and the function of the cross-platform simulation system was verified.