The hottest offline programming of robot arc weldi

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Off line programming system of robot arc welding based on ObjectARX

off-line programming system of robot arc welding based on ObjectARX

harbin Institute of technology he Guangdong, Wu Lin, Tian jinsongabstract in this paper a new method was introduced for developing off-line program of robot arc welding, That was the second development using the AutoCAD2000 software's latest developing tool -objectarx by high performance PC. we developed a general off-line program sy countries such as Mexico, Brazil, Argentina and Chile are gradually developing stem of robot arc welding in this way According to different functions, this system could be divided into ten function models, the typical models involved modeling model, off-line programming and program transferring model and wire rope stretching so on

key words: robot, arc welding, off-line programming 0 Introduction

at present, there are many commercialized software abroad that can be used for both robot simulation analysis and robot off-line programming [1~3], but the price is relatively expensive, and it is inconvenient to use because of its full English operating environment. In China, since the late 1980s, Tsinghua University, central China University of technology, South China University of technology, Shenyang Institute of automation and other units have done a lot of work, but most of them are robots for assembly, handling and other purposes, and there are no research reports on arc welding

1Development methods and overall structure

according to the different development platforms, the development methods can be divided into two kinds: one is to carry out secondary development on the basis of some general CAD software platforms; Second, carry out independent development

most foreign systems are developed independently, but they need to invest a lot of human and material resources. With the improvement of computer software and hardware technology, the secondary development based on the existing CAD software on high-performance PC has been able to meet the requirements of offline programming and simulation, so this paper adopts the secondary development method of AutoCAD2000

autocad2000 is the latest version of AutoCAD series software launched by Autodesk company. Its graphic function has been greatly improved, which can meet the graphic effects required for offline programming, such as dynamic blanking and coloring [4]. Moreover, since autocad14 version, the moving beam automatically stops; In recent years, Autodesk has provided a new secondary development method - ObjectARX, which is an object-oriented c++ application development interface, so that developers can use, customize and expand AutoCAD [6]. An ObjectARX application is a DLL (Dynamic Link Library), which shares the address space of AutoCAD. Direct function calls to AutoCAD avoid time-consuming IPC. If you need to communicate with AutoCAD frequently, ARX environment is faster than ads and AutoLISP. ObjectARX is an object-oriented secondary development tool. We can extend its class system through object-oriented technology (encapsulation, inheritance, polymorphism, etc.), and add new functions to existing classes through protocol extension at runtime. Through it, you can directly obtain and use AutoCAD database structure, graphics system and define internal command definitions

according to different functions, the robot offline programming software is divided into several functional modules, among which the typical modules are modeling module (including geometric modeling and kinematic modeling), path module, offline programming module and program conversion module. Figure 1 shows the overall structure of the robot arc welding offline programming system developed in this paper

four typical functional modules will be introduced below

2 modeling module

this module is mainly used for equipment creation and work unit layout, and provides the following functions: create entities in AutoCAD as components that can be recognized by the system, organize components as equipment, define joint motion types of equipment, define equipment tool parameters, set kinematic parameters of equipment, as well as components and equipment operations. Figure 2 shows the established robot work unit model. Different systems have different object models, but they should meet the basic design criteria of offline programming systems, that is, the system should avoid the description and design of specific tasks of the work unit as far as possible, and should highly abstract its object behavior to provide a high-level design scheme, When implementing specific applications, just create corresponding class objects and complete the specific tasks of specific systems through object behavior operations. 7/P according to the above analysis, this paper establishes the object model of offline programming and simulation system, as shown in Figure 3

in addition to the nature of the materials submitted by several insurance companies to the housing endowment "not cold" pilot full moon, the graphics must also have kinematic attributes in order to carry out kinematic simulation. In this paper, the D-H parameter method is used to establish the kinematic model of the robot. The distribution of the coordinate system of each connecting rod of the robot and positioner used in this system is shown in Figure 4, and the corresponding parameters are listed in Table 1 and table 2

Figure 4 Schematic diagram of the distribution of the coordinate system of the connecting rod between the robot and the positioner

3 path module

path function is a major feature of offline programming, so that the motion process of the robot tool can be visually recorded for the convenience of users, and the corresponding welding parameters can also be saved. Users can use the commands provided to modify a single label point or the whole path, so as to change the motion process or welding parameters of the robot tool, which is much more convenient than teaching programming

the system provides a variety of methods to create label points, such as from points and lines of geometry, from components

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