摘要
现有钣金折弯加工机器人采用示教编程,针对其效率低、占用设备时间长的问题,对机器人钣金折弯系统仿真平台进行了设计与构建。基于对系统各组成单元的参数配置和局部坐标系定义,完成了参数化导入和定位,实现了系统仿真平台的环境构建;通过对钣金折弯任务状态下机器人操作末端位姿和任务目标位姿的数学模型分析,建立了机器人末端位姿和任务目标位姿的关系,生成了折弯操作时机器人末端的任务目标位姿;通过机器人运动仿真模块生成关节角度,选取试验钣金件对该平台进行了仿真试验。研究结果表明:该仿真平台能正确生成机器人执行不同钣金加工操作任务的目标位姿,并实现加工仿真,可为面向钣金折弯工艺的机器人离线编程系统研究提供借鉴。
Aiming at the problem that the existing sheet metal bending processing robot adopts teaching programming,low efficiency and long equipment consumption,the simulation platform of the sheet metal bending robot was design andconstructed.Based on the parameter configuration and local coordinate system definition of each component unit of the system,the parameterized import and positioning were completed,and the environment construction of the system simulation platform was realized.By analyzing the mathematical model of robot operation end pose and task target pose under the sheet metal bending task state,the relationship between robot end pose and task target pose was established to generate the bending operation robot task at the end of the target position,and the joint angle was generated through the robot motion simulation module.Finally,experimental sheet metal parts were selected to carry out simulation test on this platform.The results indicatethat the simulation platform can correctly generate the target posture of the robot for different sheet metal processing tasks,and realize the processing simulation,whichprovides reference for off-line programming system research of the robot for sheet metal bending process.
作者
朱家豪
游有鹏
王鹏宇
ZHU Jia-hao;YOU You-peng;WANG Peng-yu(College of Mechanical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《机电工程》
CAS
北大核心
2020年第8期972-976,共5页
Journal of Mechanical & Electrical Engineering
基金
国家重点研发计划资助项目(2018YFB1309203)。
关键词
钣金折弯
离线编程
操作末端位姿
任务目标位姿
仿真平台
sheet metal bending
off-line programming
operation end pose
task target pose
simulation platform
