基于RobotStudio的数控机床上下料机器人轨迹规划仿真研究

Simulation study on trajectory planning of CNC machine tool loading and unloading robots based on RobotStudio

摘要

为解决工业机器人在数控机床(computer numerical control,CNC)自动上下料中路径规划及生产节拍优化问题,利用SolidWorks设计了工业机器人的末端执行器及CNC模型,基于虚拟仿真软件RobotStudio搭建了带导轨的工业机器人CNC自动上下料生产线仿真平台。根据CNC上下料实际任务设计生产线的Smart仿真组件并配置相关的I/O信号,设计了生产线的逻辑控制流程。利用区域监控功能实现机器人和CNC工作空间的安全互锁,采用三次多项式插值进行上下料路径的轨迹规划,分析机器人工具中心点(tool center point,TCP)速度对机器人角速率及生产节拍的影响。研究结果表明,在仿真平台中通过离线编程及仿真调试实现了机器人上下料路径的优化设计和生产节拍的精准控制,确定了最优TCP速度,提高了生产效率,为实际上下料作业提供了重要的理论依据。

Abstract

To solve the problems of trajectory planning and production cycle optimization for industrial robots in the automatic loading and unloading of computer numerical control (CNC), the end effector and CNC model of industrial robots are designed using SolidWorks. A simulation platform for industrial robot CNC automatic loading and unloading production line with guide rails is built based on RobotStudio. It designes the Smart components based on the actual tasks and configured relevant I/O signals, and designes the logical control process. It utilizes the regional monitoring function to achieve safety interlock between robots and CNC workspaces, uses cubic polynomial interpolation for trajectory planning of loading and unloading paths, and analyzes the impact of robot tool center point (TCP) speed on robot angular rate and production rhythm. The research results show that the optimal design of the robot′s loading and unloading path and the precise control of the production cycle are realized through offline programming and simulation debugging on the simulation platform, the optimal TCP speed is determined, improve production efficiency and provide theoretical basis for actual operations.

关键词

RobotStudio / 工业机器人 / 数控机床 / 上下料 / 轨迹规划 / 仿真研究

Key words

RobotStudio / industrial robots / CNC machine tools / loading and unloading / trajectory planning / simulation research