基于VC++的弧焊机器人离线编程系统设计  

Design of the offline programming system of arc welding robot based on VC++

作　　者：陈焕明[1] 熊震宇[1] 

机构地区：[1]南昌航空大学焊接工程系,江西南昌330063

出　　处：《电焊机》2009年第1期20-23,共4页Electric Welding Machine

基　　金：航空科学基金资助项目(02H56007)

摘　　要：针对MOTOMAN-UP系列机器人,在PC机的Windows平台上利用VC++开发了弧焊机器人离线编程系统。介绍了该系统的组成、功能及其设计方法。该系统能对任意马鞍形工件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和运动学仿真模块,并自动导入工件,不仅能单步生成作业指令,而且可自动生成作业文件;采用OpenGL技术建立三维工件模型,实现工件的显示、旋转、缩放等功能。通过以太网,对PC机中的作业程序和机器人控制器中的作业程序进行相互传输,实现了弧焊机器人的离线编程及远程控制。The offline programming system for MOTOAMN-UP series robots was developed by using Visual C＋＋ on the Microsoft Windows platform of PC.The configuration and fimctions of the system and its design method were described.It can plan the motion path and posture of welding gun for any saddle-shape workpiece which was displayed on the interface synchronically in proportion.The kinematics simulation module and the communication module were integrated together, and the workpiece was imported automatically into the simulation module.The job instructions can be made step by step,and the job files can be made automatically.The 3D models of workpieces were. established by OpenGL to realize the functions of display,rotation, enlargement and so on.The job files can be exchanged between the PC and the robot controller through Ethernet.The offline programming and remote control of robot was achieved.

关 键 词：弧焊机器人 离线编程 运动学仿真 远程控制 

分 类 号：TG409[金属学及工艺—焊接]