MOTOMAN-UP系列机器人离线编程系统  

Offline-programming System for MOTOAMN-UP Series Robot

作　　者：陈焕明[1] 胡中华[1] 熊震宇[1] 江淑园[1] 

机构地区：[1]南昌航空工业学院材料学院,南昌330034

出　　处：《机床与液压》2007年第9期201-203,207,共4页Machine Tool & Hydraulics

基　　金：航空科学基金资助项目(02H56007)

摘　　要：采用VISUAL C++6.0及OpenGL技术开发了MOTOMAN-UP系列弧焊机器人离线编程系统。建立了MOTOMAN-UP系列机器人D-H坐标系及连杆参数表,编写了运动学逆解模块;针对典型马鞍形工件的特点,规划出焊枪的运动路径与姿态,且按比例同步显示工件;集成了机器人通信模块MOTOCOM32和运动学仿真模块ROTSY并同步导入马鞍形工件,不仅能单步生成作业指令,且可自动生成作业程序。通过对焊接过程进行离线仿真试验及传输作业实焊,验证该系统是切实可行的。Offline-programming system for MOTOAMN-UP series robot was developed by using VISUAL C ＋＋ 6.0 and OpenGL. A space coordinate frame based on the D-H coordinate transformation method and connecting-rod parameter table were built and inverse kinematics module was programmed. In allusion to saddle-shape work-piece, path and posture of motion were planned and the work piece was displayed on the interface synchronistically in proportion. ROTSY for simulation module and MOTOCOM32 for communication were integrated together on the interface, and saddle-shape work-piece was imported automatically into ROTSY, by which job instruction can be made step by step, and job file can be made automatically. Test by offline simulation and practical welding proves that the system is feasible.

关 键 词：VISUALC++6.0 MOTOMAN-UP 离线编程 MOTOCOM32 ROTSY 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]