Research And Development Of Industrial Robot Off-line Programming System Based On UG

With the rapid development of industry in the world,the application of industrial robots is becoming more and more extensive.As the main operating mode of industrial robot,teaching programming has the advantages of simple operation,low cost and easy to be popularized.However,with the increasing complexity of programming,the improvement of real-time requirements of programming and the emphasis on the safety of man-machine interaction,teaching prograimming has not been able to meet the above requirements.In this context,off-line programming is urgently needed to make up for these shortcomings,so it is of great economic and social value to develop a practical off-line programming system.Through reading a lot of document about industrial robot off-line programming system at home and abroad,this thesis summarizes the development status and key technology of off-line programming system.Combined with practical application requirements,a software for industrial robot off-line programming system is developed,which is suitable for small and medium-sized enterprises and has strong generality,high performance to price ratio and simple operation.The main listed as follows:Firstly,the overall desig:n of industrial robot off-line programming system is carried out,including the choice of the system research method,the development platform and the development language,and the design of the development process.Secondly,kinematic analysis of ABB IRB4600-60 industrial robot by the standard D-H rule,and the kinematics model of the robot is verified by MATLAB Robotics 9.0 toolbox.Thirdly,the motion path continuous planning algorithm is designed to complete the path extraction in the workpiece coordinate system,and the machining path information in the workpiece coordinate system is converted to the robot base coordinate system,and with the help of inverse kinematics,motion path of the robot is continuously controlled.Fourthly,the UG/Open API function library is used to explain and compile the program instruction to realize the motion simulation function in the off-line programming of the robot,so that the off-line programming system can display the working process and the result intuitively,to verify the correctness of the off-line programming.Finally,according to the rules of program syntax of ABB robot,the operation program after simulation verification is compiled into a program that can be recognized by ABB robot controller.Furthermore,an independent online communication module is developed,which enables the program compiled by the system to be transmitted directly online to the target robot controll.er.This thesis takes VS2013 as a programming platform,uses C++ programming language,and uses the UG/Open function in UG 3D modeling software to carry out secondary development.The function modules of model management,kinematics control,path planning,simulation and post-processing are developed and integrated into UG software menu in the form of dynamic link library.After the completion of the development,a complete system test was conducted.The test results show that the off-line programming system developed in this thesis is stable,the connection of each module is well,and the relevant parameters meet the requirements.