Research On Off-line Programming Of Robotic Abrasive Belt Polishing For Gun-receiver Surface

With the wide application of industrial robot in various fields, the robotic abrasivebelt polishing has gradually aroused widespread concern. The quality and efficiency ofcomplex surface polishing can be substantially increased by using the advantages ofabrasive belt polishing and robot. In addition to the development of abrasive beltpolishing system, writing the robot program is still the important work to realize therobotic abrasive belt polishing of complex surface. In order to accomplish the roboticabrasive belt polishing of gun-receiver which produced by a military unit, the keytechniques in off-line programming of robotic abrasive belt polishing was studied in thispaper. Taking Visual Studio2010as the development environment, the off-lineprogramming system of robotic abrasive belt polishing is developed based on the MFCand OpenGL. By importing the IGS format files of3D CAD model of the gun-receiver,the robot off-line programming system can realize cutter location data generation, robotprogram generation and processing animation simulation.The research of thesis mainly from the following several aspects:1) The characteristics of several methods to realize the off-line programming ofrobotic abrasive belt polishing is analyzed.2) Studied the combination of MFC and OpenGL, and thereby build a foundationvisualization simulation platforml. The file format of STL file is studied. How to readthe STL files and using OpenGL to redraw the model also were studied.3) Related to space curved surface properties were studied, and on this basis thecutter contact trajectory generation method and the cutter axis vector control method ofabrasive belt polishing were also studied.4) The file format of IGS file is studied. How to read the IGS files and usingOpenGL to redraw the NURBS surface also were studied. Through the research of thecalculation of coordinate, partial derivative vector, normal vector of the points onNURBS surface，the generation of cutter location data of robotic abrasive belt polishingcan be realized.5) Using the homogeneous transformation matrix and D-H method to establish thekinematics model of kawasaki robot. The algorithm of its inverse kinematics solution isstudied, and thereby achieved the post-processing of cutter location data and off-lineteaching programming. Study on the command rule and program structure of program language of Kawasaki robot, and realize the automatic generation of robot programsthrough the C++programming.6) Algorithms and data structure to realize each module of off-line programmingsystem and the overall framework of the system is designed.