基于OCC的汽车智能打磨机器人控制系统构建与应用

Construction and Application of Control System for Automobile Intelligent Polishing Robot Based on OCC

为了实现汽车压铸件的高效低冲击打磨生产,基于Open CASCADE(OCC)软件平台开发了汽车智能打磨机器人控制系统,该系统结构分为用户界面层、算法层、数据结构层和三维核心层4层,主要由运动仿真、三维显示仿真、轨迹规划与优化、后置代码以及动力学仿真等5大模块构成,内含多种插补算法和轨迹优化算法,可实现高效低冲击轨迹的规划与优化。将系统应用于汽车发动机的打磨仿真模拟,结果表明,系统可以在利用时间-冲击优化轨迹时,保持打磨轨迹的平稳性,减少对于打磨机器人关节的冲击,还可以提升33%的加工效率,系统确保了汽车构件打磨加工过程的平稳性和效率性。

In order to achieve efficient and low impact polishing production of automotive die castings,an intelligent polishing robot control system for automobiles has been developed based on the Open CASCADE(OCC)software platform.The system structure is divided into four layers:user interface layer,algorithm layer,data structure layer,and 3D core layer.It is mainly composed of five modules,i.e.,operation simulation,3D display simulation,trajectory planning and optimization,post code,and dynamic simulation.It includes various interpolation algorithms and trajectory optimization algorithms,and can achieve efficient and low impact trajectory planning and optimization.The system is applied to the polishing simulation of automotive engines,and the results show that the system can maintain the smoothness of the polishing trajectory,reduce the impact on the polishing robot joints,and improve the machining efficiency by 33%when optimizing the trajectory using time impact.The system ensures the smoothness and efficiency of the polishing process of automotive components.