基于UG二次开发的工业机器人作业仿真系统设计*

作者：薛红军1,任雅广1,刘振宇2*,卜王辉2 日期：2010-06-28/span> 浏览：4259 查看PDF文档

基于UG二次开发的工业机器人作业仿真系统设计*
薛红军1,任雅广1,刘振宇2*,卜王辉2
(1.海军驻上海704所 军代表室,上海 200031;2.浙江大学 机械工程学系, 浙江 杭州 310027)

摘要：为了在一般CAD软件中实现符合企业需求的工业机器人运动仿真，通过采用UG软件二次开发技术和C++程序，构造了与UG无缝集成的工业机器人作业仿真系统。设计了包含人机接口层、作业管理层、UG支撑层的仿真软件体系结构。针对UG运动模块难以进行二次开发的问题，通过对UG装配模块的二次开发来实现机器人运动仿真。机器人运动过程碰撞检测功能则由UG间隙检查模块的二次开发实现。仿真软件现已成功地应用于汽车门框焊接机器人的作业仿真及布局设计。
关键词：机械臂;虚拟现实;离线编程
中图分类号：TH13；TP242;TP391文献标识码：A文章编号：1001-4551(2010)06-0052-04

Task simulation system design for industrial fobots based
on UG application development

XUE Hong-jun1, REN Ya-guang Ren1, LIU Zhenyu2, BU Wang-hui2
(1. Military Delegate Office, Navy Representative Office in 704 Institute, Shanghai 200031, China;
2. Mechanical Engineering Department, Zhejiang University, Hangzhou 310027, China)

Abstract: In order to implement the motion simulation of industrial robots in the common CAD software for the requirement of enterprises, the task simulation system for industrial robots is developed based on UG application development and C++ programming, and is integrated with UG software seamlessly. The architecture of the simulation system contains three hierarchies that are human-machine interface level, task management level, and UG support level. To solve the problem that the UG motion module is hard for application development, the robot motion simulation was implemented through the UG assembly module. The collision detection during robot motion was implemented through the UG clearance analysis module. The simulation system is applied to the task simulation of car door frame welding robots successfully.
Key words: robotic manipulator; virtual reality; off-line programming