工业机器人自动磨抛系统的离线仿真研究

Offline Simulation of the Industrial Robot Automatic Grinding and Polishing System

选择solidworks作为平台,研究了工业机器人自动磨抛系统的离线仿真。使用solidworks环境下工业机器人离线仿真的过程包括在solidworks环境下完成三维仿真模型、机器人加工轨迹的规划、运动学求解、运动仿真等。将逆运动学获得的夹起工件时和抛光时各个关节θ参数带入到solidworks的COSMOSmotion插件上,设置好各关节的约束、运动类型并根据抛光要求设定好初始状态到开始抛光的时间以及插值时间,然后直接使用solidworks仿真模块进入仿真场景。离线仿真降低了生产时间,生产效率大幅提高。

Solidworks is selected as the platform,the off-line simulation of industrial robot automatic polishing system is studied.The off-line simulation used SolidWorks environment is to complete machining 3D simulation model,robot planning and kinematics and motion simulation under the environment of SolidWorks.The off-line simulation reduces production time,production efficiency is greatly improved.