A method for simulating the motion path of a manipulator

Abstract

The invention discloses a method for simulating the motion path of a manipulator, which belongs to the field of manipulators. A method for simulating the movement path of a manipulator, the steps are as follows: the first step is to move the manipulator to the position of the double-spindle machining center, and lay a working track on the movement path of the manipulator, so that the central control system can control the coordinate system of the workpiece position and the position of the manipulator The coordinate system is established in the same coordinate system to determine the specific spatial position of the manipulator in the coordinate system; it can be realized by establishing the space coordinates of the manipulator and the working track and the coordinates of the workpiece position in the same coordinate system, and the prototype of the workpiece And the modeled surface mathematical model is connected with the coordinate system to form a preliminary path image suitable for the manipulator to pick and place the workpiece, and the final path image is determined through the trial run of the manipulator. During the trial run, the maximum extension distance of the manipulator is maintained , to ensure the integrity and safety of the movement path of the manipulator.

Description

technical field [0001] The invention relates to the field of manipulators, and more specifically, relates to a method for simulating a motion path of a manipulator. Background technique [0002] With the rapid development of automation technology, manipulators are usually used in industrial production to reduce labor costs and improve production efficiency. The manipulator is an automatic operating device that can imitate the movement of the human arm, grab and carry objects or operate tools according to a fixed program. It can move freely in three dimensions, so that it can operate objects or tools located at different stations. [0003] When the manipulator is in operation, it needs to grab the workpiece so that the workpiece can be moved to the processing position. During the movement of the manipulator to grab the workpiece, the manipulator may collide with the processing part without determining the moving path, resulting in The workpiece is damaged, and when the workp...

AI Technical Summary

Problems solved by technology

[0003] When the manipulator is in operation, it needs to grab the workpiece so that the workpiece can be moved to the processing position. During the movement of the manipulator to grab the workpiece, the manipulator may collide with the processing part without determining the moving path, resulting in The workpiece is damaged, and when the workpiece is grasped, if the manipulator does not choose a suitable contact position with the workpiece, it is easy to cause the workpiece to be damaged

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