【摘要】：隨著社會(huì)的發(fā)展以及工業(yè)4.0的提出,機(jī)器人行業(yè)越來越受到社會(huì)的重視,其應(yīng)用范圍逐漸遍布各個(gè)領(lǐng)域。為了能夠更加容易地操作機(jī)器人,業(yè)界學(xué)者對機(jī)器人的編程方式進(jìn)行了探索,使其從傳統(tǒng)的手工示教編程逐步過渡到離線編程,這種編程方式的改變不僅提高了機(jī)器人的工作效率,而且增加了操作人員的安全性。由于硬件及軟件的迅速發(fā)展,計(jì)算機(jī)的響應(yīng)速度和計(jì)算速度得到很大的提升,從而使得離線編程技術(shù)的實(shí)現(xiàn)成為可能。離線編程技術(shù)的實(shí)質(zhì)在于利用計(jì)算機(jī)圖形學(xué)的基本原理,將機(jī)器人的三維圖形導(dǎo)入到計(jì)算機(jī)中,通過對虛擬機(jī)器人的操作,生成機(jī)器人本體可以識別的路徑規(guī)劃指令。本文從以下幾方面進(jìn)行了研究:1、本文以UR5機(jī)器人為研究對象,在認(rèn)真分析其機(jī)械參數(shù)的基礎(chǔ)之上,建立了其D-H坐標(biāo)系,并求出了運(yùn)動(dòng)學(xué)方程。然后,借助OpenGL圖形庫,完成了 UR5機(jī)器人的三維模型導(dǎo)入,即UR5機(jī)器人的虛擬化建模。2、在傳統(tǒng)遺傳算法的理論基礎(chǔ)上,本文提出了一種改進(jìn)的遺傳算法用于焊縫順序的優(yōu)化。通過實(shí)驗(yàn)驗(yàn)證,該算法能夠有效快速地求解出較優(yōu)的焊接順序。3、本文以VS2013為開發(fā)環(huán)境,以MFC框架為界面窗口基礎(chǔ),以C++編程語言為工具,開發(fā)了運(yùn)行在Win32操作系統(tǒng)上的"焊接機(jī)器人離線編程及仿真作業(yè)系統(tǒng)"軟件。該系統(tǒng)軟件采用模塊化設(shè)計(jì)思想,主要包含機(jī)器人模型導(dǎo)入、遠(yuǎn)程監(jiān)測、軌跡規(guī)劃、環(huán)境模型、機(jī)器人指令導(dǎo)出等模塊。由于各個(gè)模塊的功能是相互獨(dú)立的,因此本系統(tǒng)具有易于維護(hù)、擴(kuò)展性強(qiáng)的特點(diǎn)。
[Abstract]:With the development of society and the proposal of industry 4.0, the robot industry has been paid more and more attention by society, and its application scope has gradually spread all over various fields. In order to operate the robot more easily, the researchers in the field have explored the programming method of the robot, making it gradually transition from the traditional manual teaching programming to the off-line programming. The change of programming method not only improves the efficiency of the robot, but also increases the safety of the operator. With the rapid development of hardware and software, the response speed and computing speed of computer are greatly improved, which makes the realization of off-line programming possible. The essence of off-line programming technology is to use the basic principles of computer graphics to import the three-dimensional graphics of robot into the computer. Through the operation of the virtual robot, the path planning instructions that can be recognized by the robot body are generated. In this paper, the following aspects are studied: 1. Based on the analysis of mechanical parameters of UR5 robot, the D-H coordinate system is established and the kinematics equation is obtained. Then, with the help of OpenGL graphics library, the three-dimensional model import of UR5 robot is completed, that is, virtual modeling of UR5 robot. 2. Based on the traditional genetic algorithm theory, an improved genetic algorithm is proposed to optimize the weld sequence. Experimental results show that the algorithm can solve the optimal welding sequence efficiently and quickly. In this paper, VS2013 is used as the development environment, MFC framework as the interface window and C programming language as the tool. The software of off-line programming and simulation of welding robot running on Win32 operating system is developed. The software of the system adopts modular design idea, including robot model import, remote monitoring, trajectory planning, environment model, robot instruction export and so on. Because the functions of each module are independent, the system has the characteristics of easy maintenance and strong expansibility.
【學(xué)位授予單位】：山東大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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本文編號：2269604