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Designing and Optimization of an off-line programming System for Robotic Belt Grinding Process

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Chinese Journal of Mechanical Engineering 2011年第4期24卷 647-655页

作者： WANG Wei YUN Chao ZHANG Ling GAO Zhihui Robotics Institute Beihang University Beijing 100191 China State Key Laboratory for Manufacturing Systems Engineering Xi＇an Jiaotong University Xi＇an 710049 China

off-line programming （OLP） system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the OLP system. A new type of grinding robot and a novel robotic belt grinding workcell are forwarded, and their features are briefly introduced. An open and object-oriented off-line programming system is developed for this robotic belt grinding system. The parameters of the trimmed surface are read from the initial graphics exchange specification （IGES） file of the CAD model of the workpiece. The deBoor-Cox basis function is used to sample the grinding target with local contact frame on the workpiece. The numerical formula of inverse kinematics is set up based on Newton＇s iterative procedure, to calculate the grinding robot configurations corresponding to the grinding targets. After the grinding path is obtained, the OLP system turns to be more effective than the teach-by-showing system. In order to improve the grinding workspace, an optimization algorithm for dynamic tool frame is proposed and performed on the special robotic belt grinding system. The initial tool frame and the interval of neighboring tool frames are defined as the preparation of the algorithm. An optimized tool local frame can be selected to grind the complex surface for a maximum dexterity index of the robot. Under the optimization algorithm, a simulation of grinding a vane is included and comparison of grinding workspace is done before and after the tool frame optimization. By the algorithm, the grinding workspace can be enlarged. Moreover the dynamic tool frame can be considered to add one degree-of-freedom to the grinding kinematical chain, which provides the theoretical support for the improvement of robotic dexterity for the complex surface grinding.

关键词： off-line programming robotic belt grinding path generation tool optimization

Study on path planning and compensation of off-line programming for thick walled curve welding

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China Welding 2015年第4期24卷 69-73页

作者：陈洪堂李海超高洪明吴林 School of Mechanical Engineering University of Jinan Jinan 250022. State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Harbin 150001.

Thick walled curve welding are usually joined by multi-layer and multi-pass welding, which quality and efficiency could be improved by off-line programming of robot welding. However, the precision of off-line programming welding path was decreased due to the deviation between the off-line planned welding path and the actual welding path. A path planning algorithm and a path compensation algorithm of multi-layer and multi-pass curve welding seam for off-line programming of robot welding are developed in this paper. Experimental results show that the robot off-line programming improves the welding efftcieney and precision for thick walled curve welding seam.

关键词： robot welding off-line programming path planning path compensation

Kinematic Study on Motoman HP6 Arc Welding Robot Based on Unigraphics

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Transactions of Tianjin University 2011年第3期17卷 199-202页

作者：冯胜强胡绳荪申俊琦 Tianjin Key Laboratory of Advanced Joining Technology School of Material Science and Engineering Tianjin University Ningbo Branch of China Academy of Ordnance Science

The links of Motoman HP6 arc welding robot are considered as an open kinematic chain which consists of a series of rotational joints through concatenation. One end of the open chain is fixed to the base or the earth, and the other end which is free fastens the end executor to complete various duties. Each link of this arc welding robot has four kinds of Denavit-Hartenberg parameters: common normal length between two adjacent links, angle of two adjacent joints, distance between the crossing of common normal length and two joints axes, and angle of two adjacent links. The displacement relation between each link of the Motoman HP6 arc welding robot is introduced, and the kinematic positive-going solution and the kinematic passive-going solution are calculated.

关键词： arc welding robot link Denavit-Hartenberg parameter kinematic positive-going solution kinematicpassive-going solution off-line programming

Study on motion simulation of arc welding robot based on UG

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China Welding 2008年第2期17卷 54-57页

作者：冯胜强胡绳荪杜乃成申俊琦 School of Materials Science and Engineering Tianjin University

The motion simulation of arc welding robot is the basis of the system of robot off-line programming, and it has been one of the important research directions. The UGNX 4. 0 is adopted to establish 3D simulating model of MOTOMAN-HP6 arc welding robot. The kinematic model under link-pole coordinate system is established by the second development function offered by UG/OPEN API and the method of programming using VC ＋＋ 6. 0. The methods of founding model and operational procedures are introduced, which provides a good basis for off-line programming technique under Unigraphies condition.

关键词： arc welding robot off-line programming Unigraphics motion simulation