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Welding robot system based on the open method of offline programming

Author: ZhanShaoKun
Tutor: LvWeiXin
School: Harbin Institute of Technology
Course: Mechanical and Electronic Engineering
Keywords: Welding robot Offline programming Automatic programming Graphic simulation
CLC: TP242.2
Type: Master's thesis
Year: 2009
Downloads: 177
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Abstract


Because welding environment constantly changing and increasingly complex welding tasks, traditional online teaching has been unable to meet production needs, in order to off-line programming of robots based flexible automation system development, represents a new direction in the robot system. Intelligence and visualization is becoming the development trend of offline programming system, in order to develop a visualization and intelligent welding robot off-line programming system, the paper simulation for offline programming and graphics support techniques are studied. This paper presents a PC-based interactive 3D visualization offline programming and dynamic simulation system. The use of the popular PC and Windows operating systems supported by the Open Inventor dimensional graphics functions in the system to achieve a 6-DOF welding robot, welding torch and workpiece dimensional geometric modeling and robotics organizational relationship model. Achieve a geometric projection method for solving the inverse kinematics, and the establishment of three coordinate systems used in the conversion, so as to lay a welding robot off-line programming system theory. Robots in the analysis of language features and system configuration, based on the development of this system ZSK welding robot language, and built with editing, debugging and program editor for program conversion robot language interpretation system. System using interactive 3D graphics Teach means a simple weld path planning and programming for the space complexity of welds, through model-based information extraction vector geometry intersection method to achieve regional robotic welding trajectory and attitude of automatic planning and programming. In order to achieve system integration and functional needs, establish a CAD-based model transformation and model placement interface, and achieve the same low-level controller communication function. VC-based platform for the offline programming system's overall development work in the implementation of the system, using the database mode solves the system of internal data transfer and management. AABB bounding box based on hierarchical tree algorithm to achieve a virtual scene of the collision detection, and robot trajectory planning approach has been studied. Through a graphical three-dimensional dynamic simulation and real-time condition monitoring program and the realization of the robot trajectory reliability and security verification. For industrial robotic welding applications, experiments carried out off-line programming. The experimental results showed that: when the workpiece can be an accurate representation of the model, the off-line programming and graphic simulation system can be flexible, fast, and high quality off-line programming. Download the program through to the underlying controller, can realize the robot motion control, verify that the offline programming of the robot control system feasibility.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Industrial robots
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