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。
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.
出处
《机电工程》
CAS
2010年第6期52-54,68,共4页
Journal of Mechanical & Electrical Engineering
基金
国家自然科学基金资助项目(50875239)
关键词
机械臂
虚拟现实
离线编程
robotic manipulator
virtual reality
off-line programming
作者简介
薛红军（1969-），男，浙江宁波人，主要从事轮机工程方面的研究．E-mail：xhj341@gmail．com
通信联系人：刘振宇，男，博士，副教授．E-mail：liuzy@zju．edu.cn
