基于MATLAB的机器人涂胶离线仿真与编程研究  

Research on Offline Simulation and Programming of Robot Gluing Based on MATLAB

作　　者：李琰[1] 刘欢庆 高建设[1] 苏宇锋[1] LI Yan;LIU Huanqing;GAO Jianshe;SU Yufeng(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》2023年第1期47-51,共5页Machine Tool & Hydraulics

基　　金：国家重点研发计划项目(2018YFB0104100)。

摘　　要：针对机器人手动示教存在的精度不稳定、编程时间长、机器人工作效率低的问题,研究基于MATLAB的离线仿真系统。采用MATLAB编程实现了机器人三维模型的控制和仿真,解析获得机械臂在实际工作时的控制语言,生成相应的控制程序从而实现虚拟和现实中六自由度机器人的控制。最后,以电芯涂胶工作单元作为原型来搭建相应的虚拟工作环境,并在实际中以库卡公司的KR16验证离线仿真系统的有效性,证明该系统可以出色完成涂胶任务。Aiming at the problems of unstable accuracy,long programming time and low working efficiency of robots in manual teaching of robots,an offline simulation system based on MATLAB was developed.The control and simulation of the robot’s 3D model were realized through MATLAB,the control language of the robot arm in actual work was analyzed,and the corresponding control program was generated to realize the control of the six degree-of-freedom robot in virtual and reality.At the same time,the offline automatic programming function under the virtual environment was also introduced.Finally,the corresponding virtual working environment was built with the cell glue working unit as a prototype,and the KR16 of KUKA was used to verify the effectiveness of the offline simulation system in practice.It proves that the system can excellently complete the gluing task.

关 键 词：六自由度机器人 离线仿真 离线自动编程 电芯涂胶 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]