面向激光加工的六轴机器人离线编程研究-光学工程专业毕业论文.docxVIP

：!奎三些銮兰三兰至圭=垒鎏兰STUDY ：!奎三些銮兰三兰至圭=垒鎏兰 STUDY OF S l X DEGREE 0F FREEDOM ROBOT OFF—LlNE PROGRA嬲期lNG lN LASER PROCESSlN8 焱bst ract 下bis pper inves毫i98tes 8 novel robot—progra#gning approaeh that generates a robot program automatically from a CAD model．，rhe development of robot—programming techniques can be categorized as lead—thrOugh programming， manipulator—level languages and task—leVel languages． In the Lead tbrough辩ethods，the programmer nee甚s to physic8l move the robot through the desired positions or paths and record the motion into the controller memory． Manipulate—level methods use symbolic／structural ianguages to describe the robot mot玉9n． T8sk—level 8pproaehes Hjay ineorporate and疆se natural lang驻89es to desefibe the robot task i拜艄 ob jective—oriented rather than manipulator—oriented way． Nowadavs． industrial robots are used extensively for simple， repetitive．boring and hazardous in laser processing．There are basieally two 孺ethods for progr8mllling industri8l robots， nalllely， on—line 8nd off一1ine．On—line teaching，a process that is tedious and time—con8uming， usually Drograms robots in industry．In the process of teaching，the rObot is manually moved to a number of desired of positions， and the robot eontrol syste辩stores the eoordinates of the positio秘s。By this群ay，the pro爨ra“l i s wr i tten that wi l l step the rObot through the sequence of the tau盛ht points． To overcome the problems in on—line programJning， we develop the off—l ine programming which greatly imprOVe the effiei8ncy of robots。For exa嚣器le， it allo辩s鑫pplieation prep8red sep8rately，so that the robot can continue to perform the current job，which will greatly reduce the waiting time． In order to realize laser prototyping， the fol lowing steps are needed． 8ased on 6’axis robot， this paper s￥ste孺atieally st娃died the basie prineiple 8nd班ethod of off—line programming for direct laser fabrication system with metal powder． Keywords Robot programming：Off—line prOgramming：CAD：Laser processing 第～章诸论第一章 第～章诸论