涂胶机器人离线编程系统设计与应用  

Design and Applications of Off-line Programming System for Gluing Robot

作　　者：刘欢庆 苏宇锋[1] 高建设[1] LIU Huanqing;SU Yufeng;GAO Jianshe(School of Mechanical and Power Engineering,Zhengzhou University,Zhengzhou Henan 450000,China)

机构地区：[1]郑州大学机械与动力工程学院,河南郑州450000

出　　处：《机床与液压》2021年第17期15-19,98,共6页Machine Tool & Hydraulics

基　　金：国家重点研发计划项目(2018YFB0104100)。

摘　　要：为提高涂胶的质量与效率,借助SolidWorks二次开发接口,设计一种涂胶机器人离线编程系统。针对具有非均匀有理B样条曲线(NURBS)的工件轮廓的涂胶,研究一种NURBS插补算法,与粗精路径点提取方法相结合,能够实现涂胶过程规避障碍物;利用C#.NET结合OpenGL开放图形库实现了仿真环境;以ZZRT-608六自由度机器人作为机械系统、ZMC406作为控制系统搭建了实验平台。以典型的鞋样涂胶工件为测试对象进行实验验证,与KUKA机器人手动示教编程作对比,结果表明:该离线编程系统在效率上提高了30%~50%,涂胶轨迹更加均匀,能够更好地满足高精度生产需求。In order to improve the processing quality and efficiency of gluing,an off-line programming system was designed with the help of SolidWorks secondary development interface.For the glue-coated workpiece contours with non-uniform rational B-splines(NURBS)curve,a NURBS interpolation algorithm was studied,it was combined with the extraction method of rough and fine path points,by which obstacles could be avoided.Then,C#.NET combined with OpenGL was used to realize the simulation environment.The ZZRT-608 six degree-of-freedom robot was used as the mechanical system,and the ZMC406 was used as the control system to build the experimental platform.A typical shoe sample was chose as the glue-coated test object.Compared with the manual teaching programming of the KUKA robot,the off-line programming system has improved efficiency by 30%~50%,and the gluing trajectory is more uniform.It can meet the high-precision production requirements better.

关 键 词：涂胶机器人 NURBS曲线 离线编程系统 SOLIDWORKS 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]