Off-line Programming And Simulation System Of Six-axis Robot For Complex Mould Surface Treatment

With the rapid development of industrial automation,people's performance requirements for robots are getting higher and higher,and robots' working objects have also become increasingly sophisticated,complex,and extensive.Especially for precision surface treatment processes such as surface coating,laser and plasma surface modification,industrial robots used in these fields need to complete the work process of the curved surface.In this process,it is not only necessary to accurately control the robot's running trajectory.Requires real-time control of changes in process parameters and robot motion speeds during operation.Manual point-finding teaching methods and existing off-line programming systems cannot meet these operational requirements.Based on the above issues,based on the six-axis industrial robot in State Key Laboratory of Materials Processing and Die & Mould Technology of Huazhong University of Science and Technology,this article developed an off-line programming and simulation system for industrial robots that is oriented to the surface treatment process of complex mold surfaces.This article focuses on the following aspects of the system:Analyze the kinematics principle of industrial robots,adopt standard DH parameter modeling method,establish the homogeneous transformation matrix of each joint of the robot,obtain the positive kinematics solution of the robot,and use the arm-wrist separation method to derive the inverse kinematics formula of the robot,and then propose the An attitude optimization algorithm that determines the optimal solution of a robot motion in multiple inverse solutions of a six-axis industrial robot.Planning the process trajectory of industrial robots,using iterative algorithms such as residual height,the tool path data of the surface to be machined is obtained.The position relationship between the workpiece and the industrial robot is established by the calibration processing coordinate system.In combination with the inverse kinematics solution formula and the attitude optimization algorithm of the robot,the trajectory data of the surface to be processed is converted into the joint motion trajectory file of the industrial robot.Based on Robotics Toolbox in MATLAB,the robot is modeled,and the robot's waiting job trajectory file is simulated to observe whether the movement process is smooth and continuous,whether there is collision risk,and the rationality and correctness of the robot trajectory planning is verified.At last,this paper proposes an overall framework and example analysis of off-line programming and simulation system for industrial robots.The experiment shows the feasibility and stability of the system,and also proves the correctness of the algorithm and model used in this system.The system can effectively avoid problems such as code errors,joint interference,and motion jamming during robot processing,and significantly improves the machining accuracy and programming efficiency of the six-axis industrial robot.