船用型钢机器人切割的规划与离线编程-材料加工工程专业论文.docxVIP

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. This paper describes the one-dimension cutting stock problem, which is an important problem before robot cutting. After comparing several algorithms, the optimized heuristics algorithm is designed to solve the problem, and get desirable utilization rate. Taking the typical marine shaped steel-hot rolled steel equal angle as an example, this paper constitutes an robotic cutting off-line programming system, which includes CAD information extraction, path planning, calibration and robot executable file auto generation. After that, software is completed and simulated cutting experiment is done to prove the feasibility of the robotic off-line programming used in the marine shaped steel cutting. Key words: robot cutting, off-line programming, heuristics algorithm， information extraction, calibration, motion planning 目录 HYPERLINK \l _bookmark0 第一章 绪 论 1 HYPERLINK \l _bookmark1 1.1 课题背景 1 HYPERLINK \l _bookmark2 1.2 机器人离线编程概述 2 HYPERLINK \l _bookmark3 1.2.1 机器人离线编程概念 2 HYPERLINK \l _bookmark4 1.2.2 机器人离线编程国内外研究现状 4 HYPERLINK \l _bookmark5 1.3 本文主要研究内容 6 HYPERLINK \l _bookmark6 第二章 船用型钢切割的排样与下料规划 9 HYPERLINK \l _bookmark7 2.1 一维下料计算模型与算法 9 HYPERLINK \l _bookmark8 2.1.1 线性规划算法 10 HYPERLINK \l _bookmark9 2.1.2 启发式算法 13 HYPERLINK \l _bookmark10 2.2 优化的启发式算法 15