The Research Of Teaching Simulation Technology On Glazing Robot

In the production of ceramics,glazing is an important part.Because the pollution caused by artificial glazing is more serious and has a greater impact on the health of workers,at present,the use of robots glazing has become the main direction of development,and robot teaching is one of the main ways of robot learning.However,the effect of artificial teaching is not easy to predict.Therefore,designing a method to predict the effect of artificial teaching has played an important role in the promotion of robots in this field.The main tasks of the project are to study the spray growth rate model that meets the actual spray distribution and how to obtain the 3D modeling of the workpiece.The main contents of this dissertation are as follows: 1.The theoretical model of the cumulative growth rate of the spray gun of the glazing robot was designed based on the finite range model and the actual spray condition of the spray gun.The model is used to study the way of calculating the growth rate under the condition of the workpiece surface being flat and curved.2.The point cloud data is preprocessed by using stepwise de-noising method and quadratic spline interpolation method,while Mesh Lab and MATLAB are the main reading and processing tools to complete the generation of sprayed workpiece model.3.For the existing 3d point cloud data processing,the spraying surface is obtained,and the path is planned on the surface of the spray painting to obtain the theoretical teaching effect.4.Using MATLAB user interaction system GUI creates simulation software,while using Tier Time A450 Industrial 3D printer creates the workpiece entity,and through FARO Edge Scan Arm to generate point cloud data.The last experiment shows that the result of simulating glaze teaching can be basically consistent with the predictive result.