Research And Development Of Simulation Service System With Cloud Manufacturing For Industrial Robot

As industrial information technology is continuously developing,industrial robot plays an even more obvious role in automatic production.Robot simulation occupies an important place in the field of robot research,not only it's an effective tool to study robot performance and working characteristics,but also it can provide reference for robot production.With the development of computer technology and Internet technology,especially the development of emerging technologies,like virtual reality,cloud computing,big data and so on,there is a new research area for robot.Based on available research of robot simulation,a simulation service prototype system with Cloud Manufacturing is established for industrial robot in this paper.With Virtual Reality and Cloud Manufacturing,a few of functions are studied and developed,like robot processing simulation,robot teaching,robot online selection and so on.The main research contents of this paper are as follows:(1)The kinematics of industrial robots is deduced,and the positive and negative kinematics problems of ABB IRB4600-60/2.05 robot are solved.Besides,the trajectories of the robot tool are planned.(2)Aiming at region limit of the robot teaching,a new scheme is proposed with virtual teaching pendant and virtual robot.To interpret and edit RAPID language,an interpreter is designed with the use of regular expression.Refer to real robot teaching pendant,the interface and functions of virtual teaching pendant are designed.And the pendant is installed on the mobile device,which can communicate with virtual robot by RPC(Remote Procedure Call Protocol).(3)Responding to urgent need of Cloud Manufacturing in robot filed,a robot information database is set up,which includes a large load of robot information,for online selection of industrial robot.And the automatic generation function of robot welding process is implemented based on case-based reasoning and rules,to provide users with recommended welding robot solutions.(4)To realize the function of specifying welding path interactively,a fast extraction algorithm of triangular mesh model features is proposed based on dihedral angle and curvature judgment,which can extract the feature like point and line of the model accurately and efficiently.(5)The simulation of the material removal process of the robot grinding and cutting is carried out.And the Boolean subtraction algorithm for triangular mesh model is studied,and an improved algorithm for fast intersection of spatial triangles is proposed.The system developed in this paper is based on Virtual Reality and Cloud Manufacturing,which expends the traditional development form of robot simulation system and integrates robot simulation and manufacturing information service.It can be used for robot information retrieving,robot process recommending,robot teaching and robot simulation.And it can be effectively used in teaching,practice,production,which has a high value of practical application.