面向喷涂制造优化的工业机器人离线编程系统研究.docVIP

  面向喷涂制造优化的工业机器人离线编程 系统研究# 周波，邵振华* 5 10 15 20 25 30 35 40 （复杂工程系统测量与控制教育部重点实验室（东南大学自动化学院），南京，210018） 摘要：传统工业机器人制造业所采用的“人工示教”方式严重制约了行业生产率的提高，而 离线编程技术被视为解决该问题的关键技术。本文以喷涂机器人为研究对象，通过深入分析 喷涂制造系统的基本特点，从 CAD 工件模型的导入和预处理、喷涂过程建模、喷枪路径规 划、喷枪轨迹优化调整、喷涂过程仿真和性能分析、喷涂机器人轨迹生成等几个主要模块分 别展开研究，开发形成一整套具有高度自动化、优化性和灵活性的喷涂机器人制造工艺的核 心技术和算法，实现对复杂喷涂生产任务的离线规划仿真和性能评估，从而达到优化喷涂效 果、提高喷涂作业效率和节省喷涂成本的目的。仿真和现场喷涂实验结果均表明了本文所开 发的离线编程系统的有效性和实用性。 关键词：工业机器人；喷涂机器人；离线编程；轨迹规划；优化；OpenGL；可视化仿真 中图分类号：TP242 Industrial robot offline programming system for spraying manufacturing optimization Zhou Bo, Shao Zhenhua (Key Laboratory of Measurement and Control of CSE, Ministry of Education, School of Automation, Southeast University, Nanjing 210096, China) Abstract: Artificial teaching used in traditional industrial robots in manufacturing severely restrict the improvement of the productivity, and offline programming technique is regarded as the key technology to solve this problem. In this paper, the paint robot is studied on the following modules, including importing and preprocessing of CAD workpiece model, spraying process modeling, spray path planning, trajectory optimization and adjustment, spraying process simulation and performance analysis, and spraying robot trajectory generation, which is based on deep analysis of the basic characteristics of spray manufacturing systems. A set of core technologies and algorithms with a high degree of automation, optimization and flexibility have formed, which realizes offline simulation and performance evaluation for complex spraying tasks, so as to achieve the purpose of optimizing spray effect, improving the efficiency of spraying operations and save spraying costs. Simulation and spraying experimental results show the effectiveness and practicality of offline programming system developed in this paper. Key words: Industrial robot; Spray painting robot; Offline Programming; Trajectory planning; Optimization; OpenGL; Visual Simulation 0 引言 喷涂机器人作为智能化的装备，可极大地提高喷涂效率和喷涂质量，降低人