摘要
机器人离线编程方法已得到较为广泛的应用,但由于工件几何外形的多样性,坐标系标定操作非常不便。基于ROBOGUIDE软件对机器人离线编程进行了研究。在研究中,以轮毂法兰盘打磨为例,推导了利用外轮廓多点进行机器人用户坐标系标定的算法。运用这一算法,可以解决由于轮毂装夹偏差造成的离线程序无法复用的问题。通过仿真试验,验证了基于ROBOGUIDE软件的机器人离线编程的有效性。
The robot offline programming method has been widely used,but due to the diversity of the workpiece geometry, the calibration operation for coordinate system is very inconvenient. Based on ROBOGUIDE software,the robot offline programming was researched. In the research,taking the grinding of the hub flange as an example,an algorithm for calibration of the robot user coordinate system was deduced by using multiple points of the outer contour. Using this algorithm,the issue that offline program cannot be reused due to clamping deviation of wheel hub can be solved. The simulation test verified the effectiveness of robot offline programming based on ROBOGUIDE software.
出处
《机械制造》
2021年第12期17-19,23,共4页
Machinery
关键词
机器人
离线编程
软件
Robot
Off Line Programming
Software
