一种六轴机器人的铣削环境建模与仿真方法  

A Modeling and Simulation Method for Milling Environment of Six-axis Robot

作　　者：金明 张世超 JIN Ming;ZHANG Shichao(Shanghai Bureau Military Representative Office,Naval Equipment Department,Yangzhou 225000;No.723 Research Institute,China State Shipbuilding Corporation Limited,Yangzhou 225101)

机构地区：[1]海军装备部上海局驻扬州地区军事代表室,扬州225000 [2]中国船舶集团有限公司第七二三研究所,扬州225101

出　　处：《舰船电子工程》2024年第8期113-117,共5页Ship Electronic Engineering

摘　　要：论文首先以Mastercam强大且成熟的数控刀轨迹生成和后处理能力得出相应工件的加工刀轨迹文件,通过刀轨迹文件得出各个加工点与对应工件坐标系的位姿关系;其次,以FANUC机器人加工蜜胺脂勺子为例建立机器人加工环境,在加工环境中建立坐标系并分析相应坐标系之间的关系;最后在CoppeliaSim中建立机器人仿真模型进行仿真,在Cop-peliaSim软件中调用脚本程序实时分析加工运行过程中刀具轨迹点距离工件的最短距离,并将最短距离信息进行统计分析。论文提供的方法可以将数控加工程序文件转换成相应的机器人关节文件,同时建立相应的加工场景,联合仿真结果表明可生成无干涉的轨迹并具有较高的加工精度。In this paper,the tool path file of the corresponding workpiece is obtained by Mastercam's powerful and mature tool path generation and post-processing ability.Secondly,FANUC robot processing melamine spoons as an example to establish the ro-bot processing environment,in the processing environment to establish the coordinate system and analyze the relationship between the coordinates.Finally,the robot simulation model is built in CoppeliaSim,and the script program is used in CoppeliaSim to ana-lyze the shortest distance between the tool path and the workpiece in real time,the shortest distance information is analyzed statisti-cally.The method provided in this paper can convert the NC machining program file into the corresponding robot joint file and set up the corresponding machining scene,the joint simulation results show that it can generate interference-free trajectories with high ma-chining accuracy.

关 键 词：数控刀轨迹生成 机器人仿真模型 无干涉的轨迹 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]