基于UG的工业机器人圆弧插补后处理算法研究  

Research on Post-processing Algorithm of Circular Interpolation of Industrial Robot based on UG

作　　者：王嘉翀 郭恩澍 李宏伟[1] WANG Jiachong;GUO Enshu;LI Hongwei(Beijing Hangxing Machinery Manufacturing Co.,Ltd.,Beijing 100010,China)

机构地区：[1]北京航星机器制造有限公司,北京100010

出　　处：《新技术新工艺》2021年第7期52-56,共5页New Technology & New Process

摘　　要：应用UG等CAM软件实现工业机器人的自动编程是一个重要的研究应用方向,然而运动插补算法特别是圆弧插补算法的差异是限制其从数控机床拓展应用到工业机器人加工的一大难点。通过分析空间圆弧插补算法原理,考虑数控机床与工业机器人圆弧运动指令的差异性,基于齐次变换矩阵的方法研究了应用于工业机器人的空间圆弧三点法运动插补的取值算法,并对算法的准确性进行了约束优化。同时从实际应用的角度出发,基于UG后置处理进行了算法编程和应用于ABB工业机器人的后置处理程序开发,最后通过MATLAB进行运动仿真验证及指令代码格式分析,其结果证明了该算法及后置处理程序开发的有效性。The use of UG and other CAM software to realize the automatic programming of industrial robots was an important research and application direction,however,the difference in motion interpolation algorithms,especially in circular interpolation algorithms,was a major difficulty that limited its application from CNC machine tools to industrial robot processing.By analyzing the principle of the spatial arc interpolation algorithm,we considered the difference in the arc motion instructions of the CNC machine tool and the industrial robot,the method based on the homogeneous transformation matrix was used to study the spatial arc three-point interpolation algorithm applied to the industrial robot,and the accuracy of the algorithm was down with constrained optimization.At the same time,from the point of view of practical application,based on UG post-processing,algorithm programming and post-processing program applied to ABB industrial robots were developed.Finally,the motion simulation verification and instruction code format analysis were carried out through MATLAB,and the results proved the effectiveness of the algorithm and the post-processing program development.

关 键 词：圆弧运动 插补算法 矩阵变换 后置处理器 工业机器人 MATLAB仿真 

分 类 号：TH164[机械工程—机械制造及自动化]