柔性制造生产线仿真设计与关键数据标定

Simulation Design and Key Data Calibration of Flexible Manufacturing Line

以基于IRB1410的多机器人柔性制造生产线为研究对象,利用SolidWorks和RobotStudio提出一种虚拟仿真生产线构建方案。简述多机器人柔性制造仿真生产线组成及工艺流程,介绍机器人法兰盘中心点的定义、手部坐标系的标定、工件坐标系的标定,并设计了数控机床的Smart动态组件;在仿真生产线编制了离线程序,根据加速度、轨迹规划,展示了机器人运行情况,运动轨迹仿真结果表明轨迹规划及编程符合预期。实践证明:借助虚拟仿真生产线,有助于实体生产线的设计、优化、调试等,为实体生产线提供理论依据。

Taking the multi robot flexible manufacturing line based on IRB1410 as the research object,a virtual simulation pro⁃duction line scheme was proposed by using SolidWorks and RobotStudio.The composition and process flow of multi robot flexible manu⁃facturing simulation production line were briefly introduced.The definition of robot flange center point,the calibration of hand coordi⁃nate system and workpiece coordinate system were introduced,and the Smart dynamic components of CNC were designed.The off-line program was compiled in the simulation production line,and the robot running situation was displayed according to the trajectory plan⁃ning.The dynamic trajectory simulation result shows that the trajectory planning and programming meet the expectation.Practice has proved that the virtual simulation production line is helpful to the design,optimization and debugging of the physical production line,it provides a theoretical basis for the entity production line.