虚拟TCP设置及其在机器人数字化编程与加工中的应用

Virtual TCP Setup and Its Application in Robot Digital Programming and Processing

数字化制造中,机器人加工装备在数字化空间中实现轨迹生成、优化和加工仿真,需要利用TCP坐标系对轨迹进行转换并实现与实际加工一致的轨迹运动仿真,提高加工精度。当机器人采用工件在手的作业方式时,其TCP坐标系和轨迹点同时处于机器人末端,无法驱动机器人运动。通过设置虚拟TCP坐标系并利用虚拟TCP坐标系与轨迹点重合的约束条件,统一工件在手和工具在手的轨迹转换方法。在运行轨迹点时,机器人的TCP坐标系依次与转换后的轨迹点重合,保证仿真过程与机器人实际加工过程的一致。通过设置多个虚拟TCP坐标系,可以对相同轨迹点进行复用,提高编程效率。为验证虚拟TCP坐标系设置的正确性,分别在机器人铣削和磨削加工的数字化空间中设置虚拟TCP坐标系,通过对实际产品的加工,验证了两个空间中轨迹运行的一致性。通过调整数字化空间中的虚拟TCP位置,其磨削精度可以达到0.15 mm。

In digital manufacturing,in order to realize trajectory generation,optimization and machining simulation of robot machining equipment in the digital space,the tool center point(TCP)coordinate system was used to transform the trajectory and realize the trajectory motion simulation consistent with the actual processing,so as to improve the machining accuracy.When the robot works with the workpiece in hand,its TCP coordinate system and trajectory point are at the end of the robot at the same time,which cannot drive the robot movement.The virtual TCP coordinate system was set up and the constraint condition that the virtual TCP coordinate system overlapped with the track point was used to unify the track conversion method of the workpiece in hand and the tool in hand.When running the trajectory points,the TCP coordinate system of the robot was made to coincide with the transformed trajectory points successively to ensure that the simulation process was consistent with the actual robot machining process.By setting multiple virtual TCP coordinate systems,the same trajectory points could be reused and the programming efficiency could be improved.In order to verify the correctness of the setting of virtual TCP coordinate system,the virtual TCP coordinate system was set in the digital space of robot milling and grinding respectively,and the consistency of trajectory running in the two spaces was verified through the processing of actual products.By adjusting the virtual TCP position in the digital space,the grinding accuracy can reach 0.15 mm.