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Complex curved surface machining track generation method in off-line programming

A complex surface, off-line programming technology, applied in the field of intelligent manufacturing and off-line programming of industrial robots

Active Publication Date: 2020-06-05
XI AN JIAOTONG UNIV
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0003] In order to overcome the deficiencies of the existing off-line programming technology under complex curved surface processing requirements, the purpose of the present invention is to provide a complex curved surface processing trajectory generation method in offline programming to realize high-precision complex curved surface trajectory processing in various industrial scenarios

Method used

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  • Complex curved surface machining track generation method in off-line programming
  • Complex curved surface machining track generation method in off-line programming
  • Complex curved surface machining track generation method in off-line programming

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Embodiment Construction

[0065] The implementation of the present invention will be described in detail below in conjunction with the drawings and examples.

[0066] During the implementation process of the present invention, an open-source computer graphics library (geometric modeling platform) OpenCASCADE (OCC) is used to realize auxiliary functions such as some basic model operations, geometric operations, and matrix operations.

[0067] Such as figure 1 As shown in the present invention, a method for generating complex curved surface processing trajectory in off-line programming, the main steps include:

[0068] Step 1: Use the complex surface trajectory generation algorithm to initially generate the robot processing trajectory;

[0069] Step 2: Detect the robot processing trajectory generated in step 1 to find out the abnormal points in the robot kinematics, which can be realized according to the kinematics forward and reverse solutions;

[0070] Step 3: Correct the abnormal points found in ste...

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Abstract

The invention discloses a complex curved surface machining track generation method in off-line programming. The complex curved surface machining track generation method in off-line programming comprises the steps of using a NURBS complex curved surface track generation algorithm based on STEP standard to generate a track and visualize the track; before animation simulation, detecting the generatedtrack points in advance by using a robot kinematics algorithm so as to detect abnormal points such as unreachable points, axis overrun points and jumping points; and correcting the abnormal points byusing a track posture correction module until all the track points are normal, and finally performing animation simulation by using computer graphics, and converting the post-code into a real machineto operate. The complex curved surface machining track generation method in off-line programming can be applied to generating and planning a complex curved surface machining track in off-line programming and provides systematic solutions for the problems of high workload, high difficulty, low efficiency and the like of manual demonstration for machining a complex curved surface by a robot; the method has the characteristics of high precision, speed and universality and good simulation visualization effect, and can be widely applied to the machining environment of the complex curved surface; and meanwhile, the provided complex curved surface track generation algorithm is high in precision and robustness.

Description

technical field [0001] The invention belongs to the field of intelligent manufacturing and off-line programming of industrial robots, in particular to a method for generating complex curved surface processing tracks in off-line programming. Background technique [0002] In the actual industrial manufacturing process, industrial robots replace human labor in more and more application scenarios due to their strong versatility, high flexibility, small footprint, and large working range. Offline programming technology is also developing rapidly, replacing It eliminates low efficiency, low precision, and long time-consuming traditional teaching programming, but in many complex scenarios, offline programming technology is still limited. Grinding and polishing of impeller blades common in industrial production, car surface spraying, and engraving of some handicrafts all involve the processing of complex curved surfaces, and this type of processing trajectory is mainly obtained thro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664
Inventor 吕红强舒驰刘俊韩九强郑辑光
Owner XI AN JIAOTONG UNIV
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