面向机器人离线示教编程的并联测量平台

Parallel Measuring Platform for Robot Off-Line Teaching Programming

针对现有的工业机器人编程方式在单件小批量加工应用中的局限性,提出了一种面向工业机器人离线示教编程的并联测量平台。借助于测量平台的六自由度并联机构运动学正解算法,通过操作测量手柄手动获取工件上待加工轨迹点的位姿,并利用测量平台到工业机器人的坐标转换关系得到控制机器人运动所需的位姿数据。然后通过TCP/IP通信协议将加工轨迹点的位姿数据实时地发送至上位机进行机器人加工运动的仿真。最后通过实验验证了借助并联测量平台进行机器人离线示教编程的可行性。

Aiming at the limitations of the existing programming methods of industrial robots in single-piece and small-batch processing applications,a parallel measuring platform for off-line teaching programming of industrial robots was proposed.By the kinematics solution of the six-DOF parallel mechanism of the measuring platform,the position and orientation of the track point to be processed on the workpiece is manually obtained through operating the measuring handle,and the pose data required for controlling the movement of the robot are obtained by using the coordinate conversion relationship between the measuring platform and the industrial robot,and is sent to the host computer in real time through the TCP/IP communication protocol for robot motion simulation.Finally,the feasibility of off-line robot programming using this measuring platform was verified through experiments.