六轴机器人离线编程与仿真系统设计与实现【毕业论文】.docx

分类号学号201213703014学校代码1 0 4 88密级论文题目六轴机器人离线编程与仿真系统设计与实现作者姓名戴雷武汉科技大硕士学位论文六轴机器人离线编程与仿真系统设计与实现学位申请人：戴雷学 科专业：软件工程学指导教师：闵华松答辩日期：2015年5 月22 日A Dissertation Submitted in Partial Fulfillment of the Requirements for the Degree of Master in EngineeringDesign and Implementation of Six-axis Robot Offline Programming and Simulation SystemMaster Candidate：LeiDaiMajor：SoftwareEngineeringSupervisor ：Prof. HuasongMinWuhan University of Science and Technology Wuhan, Hubei 430081, P.R.China22nd,May, 2015万方数据摘要机器人离线编程与仿真系统在工业机器人的使用过程中具有非常重要的作用，而当前机器人公司和商品化的此类系统虽然功能强大，但是并不对第三方开放且局限于特定的软硬件平台。中小制造企业为了适应柔性化的生产需要，对工业机器人离线编程与仿真系统的开放性和可移植性要求不断提高。本文以本实验室与北航机器人研究所合作研发的UPR100型焊接工业机器人为研究对象，设计并开发了六轴工业机器人离线编程与仿真系统。在Qt+OpenGL开发环境下，采用软件工程的开发思想和模块化设计理念，完成了包括机器人运动学模块、三维建模模块、动画仿真模块以及机器人指令解释模块等功能模块。文中研究了UPR100的运动学问题，此外以功能为依据划分模块使得系统结构更加清晰，简洁直观的界面设计也增加了系统的易用性。最后经过系统测试及运行实验，结果证实了该系统是一个模块化程度较高、可扩展性良好、跨平台的具有自主知识产权的软件系统。本文开发的软件系统在功能和性能上可以满足中小企业实际生产活动的需求，对于增强中小制造企业行业竞争力和相关技术理论研究都有比较重要的意义。关键词：六轴机械臂；机器人离线编程系统；机器人语言解析器；机器人仿真系统IIAbstractRobots offline programming and simulation system play an important role in industrial robots using. Although this kind of systems of robot company and commercialization are powerful at present, however, they are closed to third-party and limited to a specific platform of hardware and software. Small and medium enterprises (SMEs) had risen up increasingly demands on openness and portable of industrial robots offline programming and simulation system to meet the needs of flexiable production.Based on the background of above, this essay design and develop a six-axis industrial robot off-line programming and simulation system deals with the study of UPR100 welding industrial robot which was developed by our lab and the Robotics Institute of Beijing University of Aeronautics and Astronautics. We design and implement modules such as robot kinematic module, three-dimensional modeling module, animation simulation module and robot instruction interpreting module, w