机器人钣金折弯路径规划与仿真研究

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。

Robot Sheet Metal Bending Path Planning and Simulation Research

A Coin3D-based bending robot motion simulation system solution is proposed for the problem of tedious and low-efficient 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 bi-directional 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 off-line programming system for bending robots.