RobMach: G-Code-based off-line programming for robotic machining trajectory generation
RobMach: G-Code-based off-line programming for robotic machining trajectory generation
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RobMach：基于 G 代码的离线编程，用于机器人加工轨迹生成
DOI：
10.1007/s00170-021-08082-3
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发表时间：
--
影响因子：
3.4
通讯作者：
Chen Xubing
中科院分区：
文献类型：
--
作者：
Pan Jiabin;Fu Zhongtao;Xiong Jiahao;Lei Xiaoyu;Zhang Ka;Chen Xubing
与多轴数控机床相比，工业机器人凭借成本效益、灵活性好、工作空间大等显着优势，为复杂曲面加工提供了新的解决方案。然而，由于机器人执行CAD/CAM后处理技术生成的G代码命令的局限性，机器人加工轨迹的编程复杂且耗时。为此，本文提出了一种有效的方法，通过G代码指令转换来生成机器人加工轨迹以用于实际操作，其中使用ABB IRB 2600机器人实现机器人加工系统和相关的运动学分析，以及G代码和机器人控制指令的解释。利用CL点参数和加工配置参数信息实现G代码到机器人控制指令的转换关系。开发了一款离线编程软件RobMach，通过加载一台刀片铣削的G-Code文件来模拟和验证机器人加工轨迹的有效性，生成的机器人控制程序可以直接发送到机器人控制器以实现机器人加工能力，可以扩展到不同工业机器人的加工操作。
Compared with multi-axis CNC machines, industrial robots provide a new solution to complex surface machining due to the significant advantages of cost-effectiveness, good flexibility, and large workspace. However, the programming for robotic machining trajectory is complex and time-consuming, due to the limitations for robots to execute G-Code command generated via the CAD/CAM post-processing techniques. To this end, the paper proposed an effective methodology to generate the robotic machining trajectory by the conversion from G-Code commands for practical operations, in which the robotic machining system and the associated kinematic analysis are implemented using ABB IRB 2600 robot, as well as the interpretation of G-Code and robot control commands. The conversion relationship from G-Code to robot control commands is achieved with the information of the CL point parameters and machining configuration parameters. One off-line programming software, RobMach, is developed to simulate and validate the effectiveness of the robotic machining trajectory by loading G-Code file of one blade milling, and the generated robot control program can be directly sent to the robot’s controller for achieving the robotic machining capabilities, which can be extended to the machining operations of different industrial robots.