摘要
消失模铸造技术中,对于形状复杂的消失模模样的多面加工,传统的三轴数控加工方式因受制于自由度少而较为困难。利用工业机器人的多自由度柔性加工的特点,可以解决复杂形状模样加工困难的问题。基于MOTOMAN-HP6工业机器人尺寸参数、齐次变换理论,建立了机器人的运动学模型;实现数控加工APT代码与机器人控制JBI语言互相转换。以汽车覆盖件模具为例,在UG/Modeling环境中建立MOTOMAN-HP6机器人运动仿真模型,对机器人加工预先模拟分析,提高机器人加工制造的效率;最后,利用MOTOMAN工业机器人完成了典型汽车覆盖件模具泡沫模样的加工试验。
Making a mould blank with foam material is a key part of LFC. However, three-axis CNC ma- chining that subjected to the degrees of freedom has been unable to meet the processing needs of the foam model when the foam with very complex needs multi-surface processing. Therefore, multi-degree of freedom of industrial robots was considered to achieve efficient processing and to solve the problem of machining complex shapes. Based on MOTOMAN-HP6 industrial robots parameters and the homogene- ous transformation theory, kinetic model of the robot was established to achieve the conversion between the NC code APT language and JBI robot control language. Taking a typical car cover mold for example, the simulation model of MOTOMAN-HP6 robot motion was built up based on UG/modeling environ- ment for improving the efficiency of robots manufacturing by analyzing the pre-simulation result of robot processing. Finally, the experiment of processing the foam model of typical car cover mold was comple- ted with the MOTOMAN industrial robot.
出处
《特种铸造及有色合金》
CAS
CSCD
北大核心
2014年第11期1176-1178,共3页
Special Casting & Nonferrous Alloys
基金
国家高技术研究发展计划(863计划)资助项目(2012AA040201)
