Research on the virtual prototype system of the ho

Research on virtual prototype system of industrial robot

Abstract: This paper proposes to apply virtual prototype technology to the simulation research process of industrial robot, and research and develop virtual prototype system of industrial robot. Firstly, the virtual prototype technology is described and its key technologies are analyzed. Then the composition of industrial robot virtual prototype system and the research content of prototype system in robot simulation research are explained. This technology mainly solves the following two problems: system integration in robot simulation research and providing the bottom digital environment for the virtual design and verification environment of robot based production line

1 preface

virtual prototype (4. Imitate the real sliding scene in the following aspects: vimudprototype, referred to as VP) is a new technology in the current design and manufacturing field. This technology integrates product information into the visual virtual environment provided by the computer through CAD/CAM/CAE and other technologies on the computer, and realizes the process of product simulation, analysis and optimization before the actual product manufacturing. Robot simulation is an important part of robot research, which can be applied to robot kinematics, dynamics analysis, trajectory and path planning, the interaction between robot and working environment, offline programming and so on. With the development of advanced manufacturing technologies such as virtual manufacturing and digital manufacturing, robot simulation has also become an important part of the whole digital design, verification and manufacturing environment around the product life cycle. The research and development of robot virtual prototype system can complete the above research work in the virtual environment, and provide a new means for robot research and the development of advanced manufacturing technology

2 virtual prototype technology

virtual prototype technology involves the kinematics and dynamics modeling theory of multi-body system and its technical realization. It is a comprehensive application technology based on advanced modeling technology, multi domain simulation technology, information management technology, interactive user interface technology and virtual reality technology 1p technology can conduct a complete analysis of the whole system, observe and experiment the mutual movement of each component in the initial stage of design and conceptual design. Through the system simulation software to truly simulate the movement of the system in the corresponding virtual environment, the design defects can be easily modified on the computer, different design schemes can be simulated, and the system can be continuously improved until the optimal design scheme is obtained, and then the physical prototype can be made

1) system integration

virtual prototyping solution involves many technologies. The execution environment of virtual prototyping needs to be converted between different systems, and its integration includes the following aspects:

● establish a three-dimensional model of mechanical system in CAD environment and conduct simple kinematic performance analysis

● convert the geometric model into the geometric model in the CAD system, and import it into the virtual prototype analysis system for kinematics and dynamics analysis

● the load in the virtual prototype is transferred to the finite element analysis software, and the analysis results of the latter are returned to the virtual prototype

● the specification of production line model and its control system and the integration of virtual prototype

2) system parameterization

establish a parameterized virtual prototype system, which can repeatedly test the virtual prototype system under the premise of multiple simulation parameters, analyze and compare the simulation output results under various conditions, and lay a foundation for further optimization of the system

3) system optimization

virtual prototype solution under the premise of system multi parameters and virtual verification, select the scheme required by the designer, and provide optimized system parameters and design results

4) system visualization and interaction

the system provides a good model display environment, so that the operator has a high sense of immersion. Due to the advantages of visualization, designers can interactively explore the functions of virtual mechanical system in the design process, simulate the real environment to debug the virtual prototype repeatedly, and fully integrate their own experience and ability into the design process of computer virtual prototype

3 industrial robot virtual prototype

3.1 robot digital virtual prototype system

robot virtual prototype system combines robot research with virtual prototype technology, and carries out research and system development for the kinematics, dynamics analysis, trajectory and path planning, the interaction between robot and working environment and other technical contents in the process of robot design and manufacturing, so as to complete the design of robot in the virtual environment Analysis and Realization of virtual production process. The specific composition of the system is shown in Figure 1

Figure 1 robot virtual prototype system

3.2 functions and technical characteristics of robot virtual prototype system

the core function of robot virtual prototype system is to provide a virtual environment for robot design and development on computer, and its main functions are as follows:

1) visualization of robot virtual prototype system

establishing a visual environment is the basic work of virtual prototype system, CAD geometric modeling is the core. The visual environment of the robot virtual prototype has the following characteristics:

● realize the visual environment of the robot operator on the computer, and the operator can intuitively and efficiently design and develop the robot on this basis. A good environment can make the operator easily integrate his own experience and knowledge into the system at any time

● extract geometric data from CAD model and use it in the further work process of virtual prototype system, such as motion analysis and dynamic simulation

● in different stages of virtual prototype development, the robot CAD model is different in structure. In the initial conceptual design stage of the prototype, the geometric model of the robot CAD may be relatively rough. In order to meet the current design needs, some detailed geometric structures do not need to be modeled; In the detailed design stage, the prototype has been repeatedly verified and improved, and the system has obtained the optimized geometric data. The detailed geometric modeling of the prototype can be carried out to form the robot simulation results of the whole virtual prototype

2) pre demonstration of the working process of the robot

according to the composition of the robot operator body, including the geometric structure and parameters of each part, the number of joints, types and other factors, through the forward and reverse solution of the motion equation, the motion analysis of the robot is simulated. At the same time, in the process of motion analysis, it can also realize the simulation research of robot motion space analysis, work trajectory planning, collision, interference verification and so on

3) dynamic analysis of robot virtual prototype

dynamic analysis is carried out by adding physical information into the virtual prototype system, such as material type, mass, moment of inertia, joint friction and other physical factors of the manipulator. In the process of dynamic analysis, the actual working condition of the robot manipulator can be simulated to preload the virtual prototype, or apply gravity, so as to analyze the stress of each part of the prototype under various working conditions, study key links, and optimize the system structure

4) robot control system simulation

robot virtual prototype can provide a control system simulation environment to test the control system. In this regard, virtual prototype has obvious advantages over physical prototype. Various control methods can act directly on the physical prototype, which is efficient and time-saving, and there is no need to worry about the damage of the prototype caused by the wrong control method

the robot virtual prototype system has the following technical characteristics:

1) it provides an integrated system for robot simulation research and a digital robot design and verification environment. The robot virtual prototype system provides a unified data platform including digital modeling, visual motion process implementation, motion analysis, and control system simulation, so that the simulation and analysis results between various parts can be used each other in a timely and efficient manner, Provide a digital research environment

2) the industrial robot is the basic working unit in the manufacturing system. The robot virtual prototype system can effectively dissolve the digital processing and manufacturing environment at the upper level, meet the requirements of the production line at the upper level of the robot working unit in the virtual manufacturing environment to imitate the film, which is almost transparent, true and digital factory, and form the foundation and organic part of the digital robot production line

3.3 technical means for the realization of robot virtual prototype system

3.3.1 the geometric modeling tool with high water and flat world economic trend

with the development of software technology, commercial three-dimensional modeling software such as Pro/E, UG and solidword can run smoothly on the microcomputer platform without professional graphics workstation. These software can build high fidelity geometric models of machine virtual prototype, and have IGES, step, Parasolid and other geometric data conversion formats to provide the geometric data needed in the process of robot virtual prototype design and testing. They are suitable tools for geometric modeling and development of robot virtual prototype

3.3.2 development tools of robot virtual prototype system

the development tools of robot virtual prototype system are mainly divided into two categories, one is to use general software development tools, and the other is professional virtual prototype or robot development software. The former is currently more commonly used is c++, earlier FORTRAN, pas.cal and so on. The characteristic of robot virtual prototype system developed with general software is that the software is highly targeted and solves the specific problems of designers. However, it takes a lot of time and energy to establish the detailed and correct model necessary for the kinematics and dynamics research of the prototype, and the developed system is not flexible and difficult to adjust

adams, envision, etc. are commercial virtual prototype development tools 1. The software can establish simple geometric models or lead the established robot geometric models from external CAD software. The system provides simulation functions in kinematics, dynamics, etc., establishes the design and optimization environment of robot virtual prototype, and has perfect data processing ability of simulation results. The software can free designers from the tedious process of robot dynamic modeling and devote more energy to the virtual design and verification process of the prototype

4 Conclusion

applying virtual prototype technology to the field of robot simulation research and development of robot virtual prototype, on the one hand, expand the research and application scope of virtual prototype technology, and at the same time, the design and analysis of robot products in virtual environment is also the development direction of digital design and manufacturing in the future. Through the application of Virtual Prototype Technology in robot simulation research, designers can be freed from the heavy calculation process, put their energy into the analysis and optimization process of virtual prototype system, effectively carry out system evaluation, and provide optimized design products before actual production

References:

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