基于ABB机器人的异形零件涂胶轨迹规划设计.docx

摘 要 工业机器人在智能制造方面的广泛应用，节约了大量的时间、降低了生产成本、增加了经济效益。针对ABB机器人开发的Robot studio编程仿真软件则可以真实模拟机器人运动，减少了停机时间，提高了编程的效率和准确性。本文通过SolidWorks、Robot studio软件搭建涂胶机器人虚拟仿真工作站，以发动机缸体为研究对象，通过仿真软件进行发动机缸体装配面涂胶轨迹规划。 具体内容主要有： （1）利用SolidWorks软件建立末端执行器即涂胶工具三维模型，并对关键零部件进行有限元分析； （2）研究ABB IRB 120机器人的基本参数和软件编程仿真方法； （3）利用SolidWorks三维建模软件和Robot studio仿真软件搭建机器人涂胶仿真系统，创建Smart组件，建立I/O信号，并进行RAPID程序的编写，实现机器人涂胶功能，在仿真调试过程中对程序进行修改，完善涂胶机器人工作站的仿真。 关键词 工业机器人 涂胶工作站 Robot studio  Abstract The wide application of industrial robots in intelligent manufacturing has saved a lot of time, reduced production costs and increased economic benefits.Robot studio programming simulation software developed for ABB robots can truly simulate robot motion, reduce downtime and improve programming efficiency and accuracy.In this paper, SolidWorks and Robot studio software are used to build a virtual simulation workstation of the gluing robot. The engine cylinder is taken as the research object, and the gluing trajectory planning of the assembly surface of the engine cylinder is carried out through simulation software. The specific content mainly includes: （1）SolidWorks software is used to model the gluing tool, and finite element analysis is carried out on key parts. （2）The basic parameters and software programming method of ABB IRB 120 robot are studied. （3）SolidWorks 3D modeling software and Robot studio simulation software are used to build a robot gluing simulation system, Smart components are created, I/O signals are established, and RAPID program is written to realize the robot gluing function. The program is modified during the simulation debugging process to improve the simulation of the gluing robot workstation. Key words Industrial robot Glue station Robot studio  目 录 TOC \o 1-3 \h \z \u 第一章 引言 1 1.1. 研究背景及意义 1 1.2. 工业机器人的国内外研究现状 2 1.2.1国内研究现状 2 1.2.2国外研究现状 2 1.3. 本论文的主要研究内容 3 第二章 异形零件涂胶工具设计 4 第三章 关键部件的有限元分析 7 3.1. 有限元基本原理 7 3.2. 软件介绍 7 3.3. 连接件分析 7 第四章 涂胶轨迹规划步骤与仿真 9 4.1. A