用户自定义建模离线编程与仿真平台设计

User-defined Modeling of Industrial Robots Simulation Platform Design and Research

摘要:

目前存在的离线编程与仿真系统仍运行于单一系统或平台下,所能加载的机器人类型限于某一种或某一公司的某种型号;基于此提出了一个基于Qt框架的离线仿真和编程系统,通过设计规划了图形库系统并定义了相应的装配文本格式,实现了当前广泛使用的6旋转自由度工业机器人的用户自定义加载,还分别对六自由度工业机器人运动学进行了分析,并介绍了系统的总体结构,还描述了指令编译系统;最终以六自由度弧焊机器人UPR100为例,仿真结果证明系统较好地满足了具备柔性化建模的六旋转自由度工业机器人离线编程及仿真平台的要求。

Abstract:

Nowadays,the existing type of Off-line programming and simulation system is still operating in a single system or platform,the robot type they can load is limited to one or a certain type of a company. Based on this ,our paper presents simulation and offline programming system based on Qt framework ,graphics library system being planned and corresponding assembly text format being defined,has realized the current widespread use of rotational degree of freedom 6 user-defined load of industrial robots. Kinematics of six degrees of freedom industrial robot are analyzed and presented the overall structure of the system,but also describes the command system which compile robot command. The final simulation results of UPR100 arc wielding robot prove that system better meet the general industrial robot off-line programming and simulation platform with flexible modeling.