Research On Material Removal Simulation And Optimization Of Industrial Robot Based On Web

With the continuous promotion of "Made in China 2025" national strategy,Web framework has been widely used in the collection,analysis and display of manufacturing production big data,but the R & D and implementation of virtual simulation,intelligent optimization and other intelligent manufacturing technologies still rely on a variety of large-scale industrial software,which is difficult to get rid of the high cost of daily operation and high requirements for computer performance.In order to further expand the function of the Web platform and fully tap its potential in the field of digital twin,this paper studies and develops the simulation and optimization system of the industrial robot material removal processing based on Web.First of all,the kinematics analysis is carried out with the application example of COMAU RACER 7-1.4 robot,and the position matrix and coordinate transformation are defined.On this basis,the forward kinematics and inverse kinematics analysis are carried out,which provides the theoretical basis for the construction of digital twin module and the construction of trajectory optimization algorithm.Secondly,based on the actual data acquisition and display system framework,combined with the theory of kinematic analysis and the comprehensive use of Web development platform,especially the Three.js library to build a digital twin basic module,which provides a basic platform for the development of the simulation function of the material removal processing and the research of the trajectory optimization algorithm.Thirdly,this paper introduces the interpolation method of cubic B-spline curve and summarizes the characteristics and shortcomings of the trajectory optimization algorithm based on genetic algorithm,and proposes discrete joint space-time optimal trajectory optimization algorithm,which provides a new trajectory optimization idea for considering the processing quality and efficiency.At last,the method of G-code machining path analysis based on Web is put forward.On this basis,the realization method of simulation function of material removal machining based on grid position determination and geometric difference operation is discussed.At the same time,the comprehensive performance test of the developed digital twin module is carried out to provide a new technical route for the development of simulation machining and production system.