【作者】 黄勇；

【导师】 熊清平；

【作者基本信息】 华中科技大学 ， 机械工程， 2015， 硕士

【摘要】 近几年来,随着劳动人口减少,劳动力成本逐渐上升,而喷涂作业劳动强度大,工作环境恶劣,应用机器人替代人工喷涂具有广阔前景。机器人离线编程技术在机器人推广应用中具有重要作用。本文对喷涂机器人的离线编程技术进行了研究,开发出了喷涂机器人离线编程软件。利用该软件可进行机器人运动轨迹规划,可模拟机器人生产作业进行虚拟仿真和干涉检查,最后生成驱动机器人运动的控制代码。针对卫浴洁具机器人喷涂行业对离线编程软件的实际应用需求,基于UG二次开发平台利用C++编程技术开发出喷涂机器人离线编程软件。运用机器人运动学中的D-H方法,实现了喷涂机器人与变位机协调运动的运动学求解,建立喷涂机器人多解优化目标函数实现喷涂机器人运动的选解;通过对机器人喷涂工艺的调研,利用UG二次开发提供的API函数开发出喷涂机器人离线编程软件的路径规划模块,实现了机器人喷涂路径的半自动规划;利用干涉检查库函数开发喷涂机器人模拟仿真和碰撞干涉检查模块,实现喷涂机器人实际作业的模拟仿真和碰撞检测,验证喷涂机器人运动轨迹的可行性。介绍了主流的四元数和欧拉角形式的机器人运动代码表示方法,并给出了二者与齐次矩阵之间的转换关系,开发出四元数和欧拉角格式的喷涂机器人运动代码输出模块,实现机器人运动控制程序的输出。应用以上机器人离线编程技术开发出基于UG的喷涂机器人离线编程软件,并实际应用于华中HSK-JR608型机器人的卫浴洁具喷涂,经过实际的喷涂实验验证,证明了该软件的实际应用价值。更多还原

【Abstract】 In recent years, with the declining labor population and the rising labor costs. The labor intensity and bad working environment in spraying, robot has a broad application prospect instead of manual spraying. Robot off-line programming technology plays an important role in the robot application. This paper studied the painting robot off-line programming technology and developed the spraying robot off-line programming software. Using the software, we can Plan the path in the workpiece model generate the code that drive the robot. The software has processing simulation and interference check function.For the practical application demand of off-line programming in robot spraying industry, based on the UG secondary development platform and C++ programming technology, developed the spraying robot off-line programming software. Through the robot kinematics analysis, the kinematics solutions and kinematics inverse solutions were induced. This paper had put forward a kind of linkage algorithm of the robot and positioner. The optimal solution was found by the robot inverse kinematics solution. According to the main expression method of robot control code, Analyzing the transformation between Quaternion、Euler angle and the homogeneous matrix. Through the spraying robot kinematics analysis, planning the motion trajectory on the workpiece that willing be spraying. Transform the processing information into homogeneous matrix. Based on the importance of robot motion simulation and interference check, the robot motion simulation and interference check module was developed in the off-line programming software. The module can verify the code.The off-line programming software based on UG was developed based on the above research, the processing code for HSK-JR608 robot was generated by this system. The software was successful applied to the robot off-line programming spraying,which proved the practical application value of the software.更多还原