面向抓取任务的机器人离线编程优化  

Optimization of industrial robots off-line programming for grasping tasks

作　　者：赵为鑫 张文超 王明伟[1] 王晨曦 姜翰 李达 ZHAO Weixin;ZHANG Wenchao;WANG Mingwei;WANG Chenxi;JIANG Han;LI Da(School of Mechanical Engineering and Automation,Dalian Polytechnic University,Dalian 116034,CHN;Koester Digital Intelligent Technology(Shenzhen)Co.,Ltd.,Shenzhen 518101,CHN)

机构地区：[1]大连工业大学机械工程与自动化学院,辽宁大连116034 [2]科斯特数字化智能科技(深圳)有限公司,广东深圳518101

出　　处：《制造技术与机床》2023年第2期34-39,共6页Manufacturing Technology & Machine Tool

基　　金：辽宁“百千万人才工程”培养经费资助。

摘　　要：为提高工业机器人的运行效率,降低生产成本,对工业机器人抓取过程进行离线编程优化。以IRB1200型机器人为例,首先,根据机器人正、逆运动学搭建运动学模型;其次,分析加工工艺和机器人运行轨迹;再次,在Tecnomatix环境中搭建仿真平台,分析不同运动情况下TCP速度;最后,对比机器人离线编优化前后的速度,加工时间缩短约10%。经实验验证,该优化方式可提高工业机器人运动效率,降低工作能耗。In order to improve the operation efficiency of the robot and reduce the production cost,the off-line programming for grasping process of the industrial robot is optimized.This Paper takes the IRB1200 robot as the research object.Firstly,the kinematics model of the robot is built by the forward and inverse kinematics.Secondly,the processing technology and the running trajectory are analyzed.Thirdly,the simulation platform is built in Tecnomatix environment to analyze the TCP speed under different motion conditions.Finally,the off-line programming of the robot before and after the speed are compared.Consequently,the processing time can be shortened by about 10%.The experiments have verified that the optimization method can improve the motion efficiency of industrial robots,and reduce the work energy consumption.

关 键 词：工业机器人 离线编程 Tecnomatix 位姿优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH162[自动化与计算机技术—控制科学与工程]