摘要
工业机器人常用编程方法有示教编程和离线编程两种,但鉴于示教编程依靠操作者观察编程很难获较高的加工精度,而离线编程受限于CAD建模的计算精度、CAM软件生成NC刀具轨迹时的逼近计算方法和机器人姿态等方面的影响,目前离线软件也很难获得较理想的加工效果;笔者基于宏程序数控加工的多年经验,通过对工业机器人RAPID指令的研究,采用宏程序高级语言的通用性功能,将宏程序移植到工业机器人加工中,提出了基于宏程序的工业机器人手工加工编程设计方法,并用实例分析和说明。
There are two common programming methods used by industrial robot as follows： teaching programming and off-lineprogramming. However, it is difficult to receive the higher precision for the former by relying on the operater＇ s observation, and thelatter is strictly limited to these factors that are computational accuracy of CAD modeling, the influence of approximating calculationmethod and precision of NC tool path generated by CAM software, in addition the robot＇ s attitude on machining in industrial robot. Theabove factors make the current off-line softwares cannot take the off-line processing results. Based on several years＇ experiences ofmacro NC machining, according to the study of the industrial robot＇ s RAPID orders, the author adopts the universal property of themacro programming language, puts the macroprogramme into the industrial robot machining, then proposes the programming method ofmanual processing for industrial robot, and at last inserts some practical cases and illustrations.
出处
《机电工程技术》
2017年第3期92-95,共4页
Mechanical & Electrical Engineering Technology
基金
2016年省高职教育专项资金公共实训中心建设项目(编号:2050305)
关键词
示教编程
离线编程
宏程序
RAPID
机器人姿态
teaching programming
off-line programming
macroprogram
RAPID
robot attitude
