Off-Line Programming of a Robot for Laser Re-Manufacturing

作     者：靳晓曙 杨洗陈 

作者机构：School of Machinery and Electron Institute of Laser Technology Tianjin Polytechnic University 

出 版 物：《Tsinghua Science and Technology》 (清华大学学报（自然科学版（英文版）)

年 卷 期：2009年第14卷第S1期

页      面：186-191页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：Supported by the Science and Technology Development Project of Tianjin Colleges and Universities (No. 20071108) the Key Project of Tianjin Science and Technology Committee (No.08ZCKFGX02300) 

主　　题：laser re-manufacturing robot off-line programming direct slicing 

摘      要：Off-line programming provides an essential link for CAD/CAM. This paper introduced the principle of developing off-line programming system for laser re-manufacturing. Task and information flow of off-line programming for laser re-manufacturing robot was analyzed and the software structure of off-line programming based on commercial CAD software was constructed. The off-line programming system developed in this study includes 3-D solid model design, direct slicing for obtaining path data, graphical simulation of the robot and its workcell, kinematic model of the robot, motion planning, and creation of the control program for manufacturing process. The CAD software was used to design models of robot, workpiece, coaxial nozzle, and workspace. Through the application programming interface provided by the CAD software, the VC++ and ATL were chosen to develop such modules as direct slicing for obtaining path data, path planning, process specification, and control program automatic generation. The FANUC Roboguide software was used to realize graphical simulation. By direct slicing, the position and orientation data of robot end-effector was determined. The results show that the proposed system can be applied in laser re-manufacturing robot for manufacturing operations.