磨抛离线编程中修正砂带位姿及加工姿态

Modification of belt position and processing posture in off-line programming of grinding and polishing

为提高离线编程系统机器人仿真工作环境模型与实际工作环境模型的匹配度,提出了使用偏移变量法来测定偏差值.根据测得砂带的偏差值,通过软件Solidworks修正工作环境中砂带位姿,并在修正后的砂带上重新建立工具坐标系.根据四元数线性插补法,对加工线上的起始点、中点和终点坐标系姿态进行适当的变换,然后通过四元数线性插补完成中间加工点的插补,修正加工姿态,解决了磨抛工件曲面加工姿态的修正问题和加工过程中奇异位置问题.最后把修正好的工作环境模型参数导入到Robotstudio软件进行可视化验证.

To improve the matching of the simulation environment model of off-line programming system robot and the actual work environment model, the way of using an offset variable method to determine the offset value was proposed. According to the deviation of the measured values of belt, we modified the position and posture of belt by Solidworks software, and re-established the tool coordinate system on the modified belt. According to the quaternion linear interpolation method, we changed the coordinate postures of the starting points, midpoints and end points, which are in processing line. Then we used quaternion linear interpolation to complete the interpolation of the processed midpoints and modified the processing posture. Finally, we imported the parameters of the modified working environment model into Robotstudio software for visualization verification.