| Site, and flexible processing methods have become an important developmentdirection of the machining. Industrial robots used in the field of cutting with low cost,high degree of automation, flexibility, installation space and small, it can be easilyimplemented in a limited space, the cutting movement. Traditional industrial robotteach programmatically exposed the programming cycle, teaching precision and lowdefects, and offline programming technology has obvious advantages in theprogramming cycle, trajectory accuracy and processing flexibility aspects. For theoffline programming of robot machining system to study the output from CAD/CAMsystem, the conversion between the control command to control the robot to achievethe cutting action (JOB file) of the NC machining program (G-code), and processingthe prediction and optimization by using MATLAB and ADAMS simulation. The maincontents are as follows:(1) Introduced a robot kinematics theory, with PUMA560type industrial machineas an example, by using the homogeneous transformation theory to set up thekinematics model of robots, built the PUMA560kinematics equation, for off-lineprogramming technology research foundation.(2) According to the industrial robot off-line programming technology ofmachining, off-line programming development platform, analyzed the key technologyand feasibility of off-line programming.(3) Discussed industrial robot machining programming system of CAD/CAMfoundation. Through the UG from the general CAD model and by reverse engineeringthe discrete point entity model of acquisition processing objects, generate NCprocessing program.(4) Research from the NC processing program to the industrial robot controldirectives conversion process. According to the NC processing program and industrialrobot control commands between the information and the relation between industrialrobot control instruction format, using Visual C++development conversion program.(5) Study of the industrial robot off-line programming of virtual simulation ofcutting process. In MATLAB through NC extraction processing program informationobtaining robot task requirements, calculate data then according to the data generatedwithin the ADAMS spline function, used to drive the virtual physical model, and thenafter processing module through the analysis of the simulation results to modify theprocess parameter settings, to optimize the cutting results. |
