基于安川机器人的工件位姿模拟系统设计

Design of Workpiece Pose Simulation System Based on Yaskawa Robot

为便于在实验室中进行工件位姿检测模拟,设计基于安川机器人的工件位姿模拟系统,包含模拟执行、测量标定、自动运行。基于安川工业机器人的六轴机体与平行移动功能,实现末端搭载被测工件的姿态模拟。采用API激光跟踪仪设计标定流程,获得准确的工具参数,保障模拟精度。利用PLC与触摸屏设计系统控制部分与人机交互部分,实现系统根据设置参数进行自动模拟。结果表明:该系统能在实验室条件下实现工件位姿模拟的自动化作业。

For convenience of workpiece position detection simulation in laboratory,the workpiece pose simulation system based on Yaskawa robot was designed,which included simulation execution,measurement and calibration,and automatic operation.Based on the six-axis body and parallel moving function of Yaskawa industrial robot,the pose simulation of end carried workpiece was realized.The API laser tracker was used to design calibration process,and the accurate tool parameters were obtained to ensure the simulation accuracy.PLC and touch screen were used to design the system control part and man-machine interaction part to realize the automatic simulation of the system according to the setting parameters.The results show that the system can realize the automation work of work⁃piece pose simulation in laboratory.