IGM弧焊机器人大型工作站仿真系统设计
Simulation system of IGM arc-welding robot station
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摘要: 针对第一代示教再现型弧焊机器人自动化焊接的现状,自主开发了通用型IGM弧焊机器人大型工作站离线编程系统,介绍了系统总体设计及类之间关系。机器人焊接过程三维仿真是离线编程的图形平台,提出了一种新的开发方式实现三维图形仿真系统,即自主开发基于C/S结构的包含OLE(对象连接与嵌入)项的机器工作站离线编程系统,通过COM(组件对象模型)接口实现焊接工件三维图形及几何拓扑信息的无缝集成。在VC++开发环境下,使用OpenGL图形开发工具,基于面向对象的编程自主开发了三自由度龙门机架、六自由度关节型弧焊机器人和两自由度变位机的三维造型及焊接过程图形仿真系统。Abstract: Under the present situation that teach and play robot is used in the automatic welding,universal off-line programming system of IGM arc-welding robot was developed.The three-dimensional(3D) simulation of robot welding process is a graphic platform of off-line programming.A new development way had been put forward to realize the simulation system of 3D graphics, which was to develop independently an off-line programming system of the work station including an OLE item based on C/S structure.And no-slot integration of the three-dimensional graphic and topological information of the welding workpiece had been realized by COM interface.Under VC++ development environment,framework with three degrees of freedom,joint type arc-welding robot with six degrees of freedom and positioner with two degrees of freedom had been developeds by using OpenGL graphic developing instrument based on object-oriented programming.
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Keywords:
- arc-welding robot /
- graphic simulation /
- OpenGL
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