摘要
使用6R工业机器人构架切削加工平台,论述切削加工机器人与CAD/CAM系统连接和集成的数据流结构,研究切削加工机器人的后置处理过程遇到的关键问题。阐述后置处理过程各个步骤的实现原理,并以REIS RV16工业机器人为例,建立切削加工机器人的原型系统,对其后置处理过程的坐标系变换、运动学求解、冗余自由度和奇异点回避问题进行推导和论述。建立切削加工机器人的仿真和后置处理系统平台,并完成2D和3D样件的加工。试验和仿真结果表明,该系统能够完成切削加工机器人的后置处理过程及生成可执行的机器人加工指令。
A cutting platform is established by using a 6R industrial robot.The data flow for cutting robot to connect and integrate CAD/CAM system is studied.Some crucial problems encountered during the post-processing procedure are specially investigated.A prototype of cutting robot is established,on which some processing steps in the post-processing process are studied and discussed.The steps include transforming coordinate systems,solving kinematics,solving redundant degrees of freedom and avoiding singular points.A simulation and post-processing system platform is developed in order to perform the implementation of a cutting robot.Some 2D and 3D workpieces are cut by the cutting robot,which verifies the functionality and feasibility of the post-processor and the robot code generator inside the whole system.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2011年第15期52-60,共9页
Journal of Mechanical Engineering
