摘要
针对钣金折弯机器人示教编程过程烦琐、效率低的问题,提出一种基于Coin3D的折弯机器人运动仿真系统方案。基于Coin3D虚拟场景技术,为折弯单元各组件建模,完成折弯单元加工环境的参数化配置和导入,实现仿真环境构建。为适应钣金工件随折弯加工逐步变形的特点,设计了对应的双向链式数据模型;分析了折弯机器人典型操作任务目标位姿的确定方法,并在此基础上参考人工示教经验,提出折弯机器人路径规划方法,实现了折弯机器人折弯加工的运动仿真。仿真实验验证了仿真系统和相关模型与方法的正确性,为折弯机器人离线编程系统研发奠定了基础。
A Coin3Dbased bending robot motion simulation system solution is proposed for the problem of tedious and lowefficient manual demonstration programming process of sheet metal bending machine.Based on Coin3D virtual scene technology,we model the components of the bending unit,complete the parameterized configuration and import of the bending unit processing environment,and realize the construction of the simulation environment.In order to adapt to the characteristics of sheet metal workpieces that gradually deform with bending processing,the corresponding bidirectional chain data model is designed.The determination method of the target position of the typical operation task of the bending robot is analyzed,and based on this,the path planning method of the bending robot is proposed with reference to the manual demonstration experience,and the motion simulation of the bending processing of the bending robot is realized.The simulation experiments verify the correctness of the simulation system and related models and methods,and lay the foundation for the development of offline programming system for bending robots.
作者
何健
游有鹏
HE Jian;YOU Youpeng(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《机械与电子》
2022年第5期72-76,共5页
Machinery & Electronics
基金
国家重点研发计划资助项目(2018YFB1309203)。
关键词
钣金折弯
折弯机器人
路径规划
机器人仿真
sheet metal bending
bending robot
path planning
robot simulation
