机器人辅助模具抛光仿真和运动控制研究
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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。
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, MCT8000F4
ABSTRACT
programming 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.
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。
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, MCT8000F4
ABSTRACT
programming 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.
引文
[1] K.Saito. Finishing and Polishing of Free-Form Surface. Bulletin of Japan Society of Precision Engineering(V18, n2, June 1984): 104～109
[2] 张雷．磁粒光整加工工艺的基础性研究：[博士学位论文]．大连：大连理工大学，1999
[3] X Q Chen, Z M Gong, H Huang, S S Ge et al. Development of SMART 3D polishing system. Industrial Automation Journal-A Singapore Industrial Automation Association Publication, vol8, NO.2 April-June 1999. 6～11
[4] 蔡明俊，林荣贵，石永山．自动抛光系统之研制．http：//www.tmdia.org.tw/chinese/tech_exch/sub-23.shtml
[5] Wang Y.T,Y.J. Jan. Path Planning for Robot-Assisted Grinding Processes. IEEE International ConferenceonRobotics and Automation, Seoul, Korea. 2001, 331～336
[6] Richard S.Wright, Jr. Michael Sweet. OpenGL SuperBible, 2nd Edition. Published: Waite Group Press, 2001.
[7] 王坤兴．机器人技术的发展趋势．机器人技术与应用，1999，000(006)：4～6
[8] 范永，谭民．机器人控制器的现状及展望．机器人，1999,1．NO．1：75～80
[9] Guvenc L, Srinivasan K. An Overview of Robot-assisted Die and Mold Polishing with Emphasis on Process Modeling. Int. Journal of Manufacturing System, 1997,16(1):48-58.
[10] Bernhard Klaassen, Hermann Streich, Frank Kirchner. Modeling Simulation and Control of a Segmented Inspection Robot. Autonome intelligente Systeme (AiS)D-53754 St. Augustin Germany.
[11] Jan Rosell, Jaurne Gratacos, Luis Basanez. Automatic programming tool for robotic polishing tasks. Proceedings of 2000 IEEE International Symposium on Assembly and Task Planning Porto, Portugal-July 1999. 250-255.
[12] Edward Amatucci, Roger Bostelman, Nicholas Dagalakis, Tsungming Tsai, Summary of Modeling and Simulation for NIST Robo Crane(?) Applications. Deneb
International Simulation Conference and Technology Showcase, Detroit, MI.
[13] Brendon J. Wilson. Design of an Integrated Robot Simulator For Learning Application. a Thesis Submit in Parktial Fulfillment of the Requirements for the Degree of Bachelor of Applied Science in the School of Engineering Science Brendon Wilson 1999, Simon Fraser University.
[14] Seok Jo Go, Min Cheol Lee, Byung Su Kim. User-friendly Automatic Polishing Robot System and Its Remove Operation Based on Network, ISIE 2001, Pusan, Korea:1435～1440
[15] Min Cheol Lee, Seok JO Go, Young Jung etal. Development of a user-friendly polishing robot system. Proceedings of 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems:1914-1919
[16] Kuo.R.J.A Robotic Die Polishing System through Fuzzy neural Networks.Computers in industry, 1997.32(3):273-280
[17] 袁楚明，张雷，陈幼平等．机器人辅助模具自由抛光机器发展趋势．中国机械工程．2000年12，第11卷第12期：1428-1430
[18] 赵继，詹建明，祝佩兴等．机器人超声弹性研磨自由曲面的过程识别与优化．机械工程学报．2000(1)第36卷：71-82
[19] K.Saito,T, Miyoshi.T, Sasaki. Automation of Polishing Process for a Cavity Surface on Dies and Molds by Using an Expert System. Ann CIRP 42(1)1993:553-556
[20] Chi-Hang Lui, Hon-yuen Tam. To speed up robotic mold polishing by hard tools. Proceedings of IEEE International Conference on Industrial Technology, 1996:513-516
[21] Y.Kashimura, N.Yashima. Study on simiplification of teaching method for polishing robot. 1993, Jpn. Soc.Prec. Eng.5919(9):1489-1494
[22] Yoshimi Takeuchi, Naoki Askawa, Dong-Fang GE. Automation of polishing work by an industrial robot(System of Polishing Robot). JSME International Journal Series C:Dynamics Control Robotics Design and Manufacturing. 1993VOL, 36n4:556-561
[23] Y.T.WANG, Y.J.JAN. Robot-assisted finishing system with an active torque
controller. Proceedings of 2000 IEEE International Conference on Robots & Automation San Francisco:1568-1573
[24] Dong-Fang GE, Yoshimi Takeuchi and Naoki Asakawa, Deterous Polishing of Overhanging Scruptured Surface with a 6-Axis Control Robots. IEEE International Conference On Robotics And Automation, 1995, VOL.2:2090-2095
[25] M.Kunieda, T.Nakagawa, T.Higuchi. Robot-polishing of curved surface with magnetically pressed polishing tool. JSPE 54(1)(1988):125～131
[26] Hon-yuen Tam, Osmond Chi-hang Lui, Alberert C.K.Mok. Robotics polishing of flee-form surfaces using scanning paths. Journal of Material s Processing Technology 95(1999):191～200
[27] Y.Mizugaki, M.Sakamoto, T.Sata. Fractal path generation for a metal-mold polishing robot system and its evaluation by the operability. Ann CIRP 41(1)(1992):531～534
[28] U.Cho, D.G.Eom, D.Y.Lee, J.O.Park. A flexible polishing robot system for die and mould. 23rd International Symposium on Industrial Robots, 1992:449～456
[29] M.C.Lee, S.J.Go, M.H.Lee etal. A robust trajectory tracking control of a polishing robot system based on CAM data. Robotics and Computer Integrated Manufacturing, 2001(17):177～183
[30] Y.Takeuchi, N.Askawa, D.F.Ge. Automation of polishing work by an industrial robot(system of polishing robot). JSME Int. J. Ser. 1993C36(4):556～561
[31] 赵春霞，什宜利，王树国等．机器人仿真与离线编程系统．高技术通讯 1994(10)：4～6
[32] 李善平 姚宇明 徐毓良等．机器人系统的图形仿真工具．浙江大学学报，1995年1月，第29卷(1)：108～112
[33] 崔培莲，孙增劲．机器人．1995年1月，17卷(1)：25～31
[34] 丁汉，陈家新，熊有伦．机器人最佳轨迹规划和图形仿真的研究．1989年，第3卷(2)：8～14
[35] 吴克寿，黄心汉，王敏．基于0PenGL和AutoCAD机器人运动三维仿真系统的设计．洛阳工学院学报．2001年3月，第22卷(1)：51～54
[36] 张征，刘斌，成晓阳等．工业机器人的三维实体造型和运动学约束．组合机
床与自动化加工技术．2000年第9期：4～6
[37] Jan Rosell, Luis Basanez, Ivan Diaz. Graphical task-level robot programming polishing and grinding. Preprints of the 15th Triennial IFAC World Congress on Automatic Control, Barcelona, Spain, July 2002.
[38] 乔林，杨志刚，刘文杰编著．Visual C++6.0程序设计．北京：中国铁道出版社，1999年10月．
[39] 王正兵，任偲．开放式体系结构—数控系统发展的潮流．制造技术与机床，2002(1)，42-44，
[40] 宛延闿编著．C++语言和面向对象程序设计．北京：清华大学出版社，1998．
[41] 侯俊杰著．深入浅出MFC(第二版)．武汉：华中科技大学出版社，2001年．
[42] 费广正，乔林编著．Visual C++高级编程技术．北京：中国铁道出版社，2000年．
[43] 廖效果，刘又午．数控技术．武汉：湖北科学技术出版社，2000年．
[44] 姚习武，朱志红，田文超．Windows平台下数控代码解释系统的研究与实践．计算机应用，1999．5第28卷第3期：24-26．
[45] 刘雄伟等，数控加工理论及编程技术．北京：机械工业出版社，2000年．
[46] 吴振彪，熊有伦．工业机器人．武汉：华中理工大学出版社，1997．
[47] Trajectory planning for a two-link planar robot. http://www.mapleapps.com/
[48] 彭韬，周学才．基于国产MCT8000运动控制卡的开放结构机器人控制系统．制造业自动化，2001．2：65-67
[49] 程金林 周学才。国产MCTS000运动控制器的轨迹规划系统，制造业自动化。2001．5：55-57
[50] 高军礼，陈玮，邓则名．基于DSP技术的多轴运动控制器应用研究．组合机床与自动化加工技术，2002，NO.3：310-312
[51] 深圳摩信科技有限公司网上资料：www.moxin.com.
[2] 张雷．磁粒光整加工工艺的基础性研究：[博士学位论文]．大连：大连理工大学，1999
[3] X Q Chen, Z M Gong, H Huang, S S Ge et al. Development of SMART 3D polishing system. Industrial Automation Journal-A Singapore Industrial Automation Association Publication, vol8, NO.2 April-June 1999. 6～11
[4] 蔡明俊，林荣贵，石永山．自动抛光系统之研制．http：//www.tmdia.org.tw/chinese/tech_exch/sub-23.shtml
[5] Wang Y.T,Y.J. Jan. Path Planning for Robot-Assisted Grinding Processes. IEEE International ConferenceonRobotics and Automation, Seoul, Korea. 2001, 331～336
[6] Richard S.Wright, Jr. Michael Sweet. OpenGL SuperBible, 2nd Edition. Published: Waite Group Press, 2001.
[7] 王坤兴．机器人技术的发展趋势．机器人技术与应用，1999，000(006)：4～6
[8] 范永，谭民．机器人控制器的现状及展望．机器人，1999,1．NO．1：75～80
[9] Guvenc L, Srinivasan K. An Overview of Robot-assisted Die and Mold Polishing with Emphasis on Process Modeling. Int. Journal of Manufacturing System, 1997,16(1):48-58.
[10] Bernhard Klaassen, Hermann Streich, Frank Kirchner. Modeling Simulation and Control of a Segmented Inspection Robot. Autonome intelligente Systeme (AiS)D-53754 St. Augustin Germany.
[11] Jan Rosell, Jaurne Gratacos, Luis Basanez. Automatic programming tool for robotic polishing tasks. Proceedings of 2000 IEEE International Symposium on Assembly and Task Planning Porto, Portugal-July 1999. 250-255.
[12] Edward Amatucci, Roger Bostelman, Nicholas Dagalakis, Tsungming Tsai, Summary of Modeling and Simulation for NIST Robo Crane(?) Applications. Deneb
International Simulation Conference and Technology Showcase, Detroit, MI.
[13] Brendon J. Wilson. Design of an Integrated Robot Simulator For Learning Application. a Thesis Submit in Parktial Fulfillment of the Requirements for the Degree of Bachelor of Applied Science in the School of Engineering Science Brendon Wilson 1999, Simon Fraser University.
[14] Seok Jo Go, Min Cheol Lee, Byung Su Kim. User-friendly Automatic Polishing Robot System and Its Remove Operation Based on Network, ISIE 2001, Pusan, Korea:1435～1440
[15] Min Cheol Lee, Seok JO Go, Young Jung etal. Development of a user-friendly polishing robot system. Proceedings of 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems:1914-1919
[16] Kuo.R.J.A Robotic Die Polishing System through Fuzzy neural Networks.Computers in industry, 1997.32(3):273-280
[17] 袁楚明，张雷，陈幼平等．机器人辅助模具自由抛光机器发展趋势．中国机械工程．2000年12，第11卷第12期：1428-1430
[18] 赵继，詹建明，祝佩兴等．机器人超声弹性研磨自由曲面的过程识别与优化．机械工程学报．2000(1)第36卷：71-82
[19] K.Saito,T, Miyoshi.T, Sasaki. Automation of Polishing Process for a Cavity Surface on Dies and Molds by Using an Expert System. Ann CIRP 42(1)1993:553-556
[20] Chi-Hang Lui, Hon-yuen Tam. To speed up robotic mold polishing by hard tools. Proceedings of IEEE International Conference on Industrial Technology, 1996:513-516
[21] Y.Kashimura, N.Yashima. Study on simiplification of teaching method for polishing robot. 1993, Jpn. Soc.Prec. Eng.5919(9):1489-1494
[22] Yoshimi Takeuchi, Naoki Askawa, Dong-Fang GE. Automation of polishing work by an industrial robot(System of Polishing Robot). JSME International Journal Series C:Dynamics Control Robotics Design and Manufacturing. 1993VOL, 36n4:556-561
[23] Y.T.WANG, Y.J.JAN. Robot-assisted finishing system with an active torque
controller. Proceedings of 2000 IEEE International Conference on Robots & Automation San Francisco:1568-1573
[24] Dong-Fang GE, Yoshimi Takeuchi and Naoki Asakawa, Deterous Polishing of Overhanging Scruptured Surface with a 6-Axis Control Robots. IEEE International Conference On Robotics And Automation, 1995, VOL.2:2090-2095
[25] M.Kunieda, T.Nakagawa, T.Higuchi. Robot-polishing of curved surface with magnetically pressed polishing tool. JSPE 54(1)(1988):125～131
[26] Hon-yuen Tam, Osmond Chi-hang Lui, Alberert C.K.Mok. Robotics polishing of flee-form surfaces using scanning paths. Journal of Material s Processing Technology 95(1999):191～200
[27] Y.Mizugaki, M.Sakamoto, T.Sata. Fractal path generation for a metal-mold polishing robot system and its evaluation by the operability. Ann CIRP 41(1)(1992):531～534
[28] U.Cho, D.G.Eom, D.Y.Lee, J.O.Park. A flexible polishing robot system for die and mould. 23rd International Symposium on Industrial Robots, 1992:449～456
[29] M.C.Lee, S.J.Go, M.H.Lee etal. A robust trajectory tracking control of a polishing robot system based on CAM data. Robotics and Computer Integrated Manufacturing, 2001(17):177～183
[30] Y.Takeuchi, N.Askawa, D.F.Ge. Automation of polishing work by an industrial robot(system of polishing robot). JSME Int. J. Ser. 1993C36(4):556～561
[31] 赵春霞，什宜利，王树国等．机器人仿真与离线编程系统．高技术通讯 1994(10)：4～6
[32] 李善平 姚宇明 徐毓良等．机器人系统的图形仿真工具．浙江大学学报，1995年1月，第29卷(1)：108～112
[33] 崔培莲，孙增劲．机器人．1995年1月，17卷(1)：25～31
[34] 丁汉，陈家新，熊有伦．机器人最佳轨迹规划和图形仿真的研究．1989年，第3卷(2)：8～14
[35] 吴克寿，黄心汉，王敏．基于0PenGL和AutoCAD机器人运动三维仿真系统的设计．洛阳工学院学报．2001年3月，第22卷(1)：51～54
[36] 张征，刘斌，成晓阳等．工业机器人的三维实体造型和运动学约束．组合机
床与自动化加工技术．2000年第9期：4～6
[37] Jan Rosell, Luis Basanez, Ivan Diaz. Graphical task-level robot programming polishing and grinding. Preprints of the 15th Triennial IFAC World Congress on Automatic Control, Barcelona, Spain, July 2002.
[38] 乔林，杨志刚，刘文杰编著．Visual C++6.0程序设计．北京：中国铁道出版社，1999年10月．
[39] 王正兵，任偲．开放式体系结构—数控系统发展的潮流．制造技术与机床，2002(1)，42-44，
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[41] 侯俊杰著．深入浅出MFC(第二版)．武汉：华中科技大学出版社，2001年．
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