基于RobotStudio的智能制造单元实验平台仿真设计  

Simulation design of experimental platform for intelligent manufacturing unit based on RobotStudio

作　　者：何剑敏[1] 羊荣金 沈孟锋[1] HE Jianmin;YANG Rongjin;SHENG Mengfeng(Institute of High-end Equipment,Hangzhou Polytechnic,Hangzhou 311400,China)

机构地区：[1]杭州科技职业技术学院高端装备研究所,浙江杭州311400

出　　处：《实验技术与管理》2022年第3期99-104,共6页Experimental Technology and Management

基　　金：浙江省教育厅一般科研项目(Y201941419);浙江省教育厅一般科研项目(Y202043160)。

摘　　要：为提高工业机器人专业技能人才培养水平,打好虚实结合实验教学的基础,基于RobotStudio仿真软件及NX三维建模软件,建立了轮毂智能制造单元实验仿真平台。该平台创新设计工业机器人法兰盘末端快换夹具的SMART组件,通过四元数法完成快换夹具工具坐标标定,使工业机器人在装配不同工具时拥有相应的工具坐标,满足快换夹具下机器人运动仿真的需要。此外,平台可转换物理特性状态,使轮毂具备重力、摩擦力等物理效果,实现实物平台运行的实际效果。最后,进行轮毂制造流程TCP轨迹跟踪仿真,优化工业机器人能耗及电机功率。仿真结果表明:平台满足工业机器人快换夹具的快速响应,实现了轮毂在智能制造单元实验平台中的多任务仿真,同时可通过优化机器人程序参数,提高实物平台运行效率。In order to improve the training level of professional skills in industrial robot and lay the good foundation of combining virtual and real experiment teaching,an experimental simulation platform for intelligent manufacturing unit of wheel is established based on RobotStudio simulation software and NX 3D modeling software.This platform innovatively designs the SMART component of the quick-change fixture at the end of the flange of industrial robot,completes the calibration of the tool coordinates of the quick-change fixture by quaternion method,so that the industrial robot has the corresponding tool coordinates when assembling different tools,so as to meet the need of robot motion simulation under the quick-change fixture.In addition,the platform can transform the state of physical characteristics,so that the wheel has gravity,friction and other physical effects,and the actual effect of physical platform operation is achieved.Finally,the TCP trajectory tracking simulation of wheel manufacturing process is carried out to optimize the energy consumption and motor power of industrial robot.The simulation results show that the platform can meet the rapid response of quick-change fixture of industrial robot,realize the multi-task simulation of the wheel in the intelligent manufacturing unit experimental platform,and improve the operation efficiency of the physical platform by optimizing the robot program parameters.

关 键 词：实验平台 快换夹具 物理特性 轨迹跟踪 SMART组件 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]