Research On Trajectory Planning And Offline Programming Of Wiring Harness Robot

At present,the production of aircraft wiring harness mainly relies on manual wiring at home and abroad,which has the disadvantages of low efficiency and poor product consistency and so on.With the continuous improvement of aircraft manufacturing technology,the existing manual wiring method can not meet the current demand anymore.In order to improve the level of wiring technology,robots are used to replace manual labor for automatic wiring,and off-line programming is the key to achieve automatic wiring of robots.In this paper,the wiring harness robot is used as the research object,combined with visual guidance technology and force control technology,the automatic wiring of the wire harness robot is carried out by off-line programming.In this paper,the D-H parameter method is used to obtain the parameters of the connecting rod of the UR10 robot,and the equation of motion is solved by the analytic method.The MATLAB robot toolbox Robotics Toolbox is used to verify the forward and backward kinematics of the robot.Secondly,according to the motion requirements of the wire harness robot,the trajectory of the robot is planned by five times polynomial interpolation in the joint space,and the trajectory of the wire harness robot is simulated with Robotics Toolbox.Thirdly,in the DELMIA off-line programming software,the 3D model of the wiring platform is established,and the wiring task is taught.Then the wiring process is checked regarding simulation,collision and interference,and the off-line program of the robot is generated in the off-line module.The off-line program post processing software is developed based on C# programming language,and the generated robot off-line program is transformed into a script code that can be identified by the UR robot control cabinet.Then,robot force control technology and camera calibration technology are studied respectively.According to the characteristics of the UR10 robot,the force control function of the robot,the column capturing wire harness and the wiring inflection point column is put forward,and the installation method of the camera Eye-in-Hand and the calibration method of the active vision are determined.Finally,a wiring robot experimental platform is built.The robot's TCP is corrected by the four point method,and the position of the workpiece is corrected by using the coordinate system.And using the active vision calibration method to calibrate the camera,finally completed the experiment of the grasping experiment of the robot force control and the positioning of the visual guidance,and the arrangement of the wiring harness experiment,which verifies the feasibility of the wiring harness robot using the off-line programming method.