船用型钢机器人割的规划与离线编程.pdfVIP

A Dissertation Submitted to Shanghai Jiao Tong University for the Degree of Engineering Master OFF-LINE PROGRAMMING AND PLANNING IN SHAPED STEEL ROBOTIC CUTTING Author: Yan Hao Major: Material Science and Engineering Supervisor: Vice Prof. Lin Tao School of Material Science and Engineering Shanghai Jiao Tong University Shanghai, P.R. China Jan. 15, 2010 船用型钢机器人切割的规划与离线编程 摘 要 切割依然是现代船舶制造业中非常重要的加工手段。传统的数控 方法或者机器人示教方法在一些复杂的作业或者自动化要求更高的 企业中不能满足要求。离线编程技术提供了合适的解决方案以满足更 高的自动化，更有效率的加工过程和更加安全的加工环境，同时机器 人与CAD/CAM 相结合形成一体的自动化生产线。 本文首先概述了机器人离线编程的情况，对国内外关于机器人离 线编程的历史和现状进行了分析。文章首先对船用型钢切割的前期排 样下料规划作了描述，同时选择了启发式算法，针对一维型钢切割和 课题特点，采用优化的启发式算法获得了理想的材料利用率。同时针 对典型船用型钢热轧等边角钢，建立了从CAD 图形提取切割信息、对 路径规划排序、坐标变换标定为机器人坐标系坐标、自动生成MOTOMAN UP6 机器人可执行文件的离线编程系统，并完成了可视化软件编写和 模拟切割实验，证明了机器人离线编程用于船用型钢切割的可行性。 关键词：机器人切割，离线编程，启发式算法，信息提取，工件 标定，运动规划 OFF-LINE PROGRAMMING AND PLANNING IN SHAPED STEEL ROBOTIC CUTTING ABSTRACT Cutting is one of the most important process method in modern marine industry. Traditional numerical control method or robotic teaching method could not meet demands in some complicated work or high-auto technology need project. Off-line programming technology provide such a solution, which could upgrade the degree of automation and provide more efficient process and safer environment. At the same time, robots and CAD/CAM approach are combined to be the whole automatic production line. Firstly, the basic information of off-line programming and also some history and present situation of robotic off-line programming are introduced. Thi