【作者】 赵学堂；

【导师】 张永俊；

【作者基本信息】 广东工业大学 ， 机械制造及其自动化， 2003， 硕士

【摘要】 机器人辅助模具抛光是实现模具抛光自动化的重要手段之一，它对提高抛光效率，保证产品质量，降低工人劳动强度具有重要意义。 本文在总结国内、外机器人辅助模具抛光研究的基础上，对机器人抛光中三维实体造型、轨迹生成、抛光运动仿真、运动控制进行了较为深入系统的研究。根据计算机的软、硬件发展水平和趋势，应用visual C++6.0编程语言和OpenGL三维图形库，采用面向对象方法，开发了机器人辅助模具抛光运动仿真及运动控制软件(SMCPR)。本系统以通用PC机作为上位机，基于DSP的多轴运动控制器MCT8000F4(核心芯片为TMS320C31)作为下位机，构成主从式计算机控制系统。上位机主要完成软件的界面设计、机器人和工具三维造型、工件DXF图形导入、插补、机器人逆运动学计算以及运动仿真，下位机根据上位机计算的轨迹数据完成对机器人的运动控制。 本论文主要进行了下面几部分工作： 1．国内、外研究综述：概括总结了机器人辅助模具抛光目前国内、外的发展状况，研究内容和发展趋势； 2．系统整体结构设计：介绍了系统的软、硬件选择，整体功能设计和系统的类层次结构； 3．系统相关理论研究以及程序设计：具体研究了OpenGL三维造型和运动仿真的关键技术，DXF图形文件转换接口，NC代码编译和插补计算实现，MCT8000F4程序体系结构以及对实验平台运动控制的实现等； 4．系统集成：将用Visual C++6.0开发的控制界面，各功能模块，DSP主控程序，被控对象等部分集成为一个整体，实现抛光仿真和运动控制功能； 5．系统实验：通过具体实例，对系统进行了实验验证，同时指出了其功能特点及今后有待解决的问题。 机器人因其特有的柔性，非常适合于模具的自动化抛光，本文所作的工作为机器人辅助模具抛光的进一步深入研究打下了良好的基础。更多还原

【Abstract】 Robot-assisted die and mold polishing is one of the most major ways to realize the automation of die and mold polishing, it is of great significance for improving polishing efficiency, ensuring product quality and reducing labor intensity.This paper made a research on the 3-D solid shaping, path generation, polishing motion simulation and motion control of robot polishing system based on the achievements in Robot-assisted die and mold polishing research at home and abroad. With Visual C++ and OpenGL and OOP method, a simulation and motion control system for polishing die and mould with a robot was developed in the light of the progress of computer hardware and software. A control system with principal and subordinate architecture was constructed; PC is used as upper computer, multi-axes motion controller MCT800F4 is used as lower computer (core chip: TMS320C31). Upper computer was used for the design of software interface, 3-D solid shaping of robot and tool, the import of the DXF graphics file of work-piece, the compilation of NC code, interpolation, the computation of robot inverse kinematics and motion simulation; lower computer was used for motion control according to the computed trajectory data from upper computer.Following works were done in this dissertation:1. Research summary: summarize the development status, research contents and development tendency of Robot-assisted die and mold polishing at home and aboard.2. System structure design: introduces the hardware and software structure, system function and system class hierarchy.3. System theory study and programming: make a research on key technology about 3-d solid shaping and motion simulation, DXF graphics file exchange interface, NC code compiling and interpolation, MCT8000F4ABSTRACTprogramming structure and the realization of motion control of worktable;4. System integration: integrate the control interface, function modules, DSP master program and controlled object into an entirety to realize the polishing simulation and motion control.5. System experiment: test and verify the system performance through an example and point out the function characteristic and the problems to be solved in the future.Robot is very suitable for automatic polishing because of its flexible. The work made in this paper lays a foundation for the future study of robot-assisted die and mold polishing.更多还原