机器人虚拟TCP的设置及其在加工中的应用

摘要

Aiming at the problem that the contours generated on the workpiece grasped at end of a robot cannot be used for deburring,having studied the deburring machining of the workpiece grasped at the robot end under the condition of tool fixation,the method was proposed,that after the relationship between the workpiece contour and the fixed position of TCP was confirmed,a point of the tool fixed in the workspace of the robot is set as a virtual TCP,based on which the machining contour points attached to the robot end workpiece were mapped into the vir-tual locus in the robot workspace. Based on the mapping between locus and the virtual locus on the workpiece and the completion of the virtu-al TCP and the TCP set at the robot end,RoboGuide,Fanuc robot simulation software,was used to validate the method,its processing,and tool feed measurement. The result indicates that method of deburring the workpiece grasped at the robot end fully meets the precision require-ments of production and processing.%针对机器人末端抓持工件时,无法利用生成在工件上的轮廓点进行去毛边加工的问题,对机器人末端抓持工件在工具固定的情况下去毛边加工的方法进行研究,提出在确定工件加工轮廓与机器人末端TCP的固定位姿关系之后,将固定在机器人工作空间中的工具上一点设置为虚拟TCP,以该虚拟TCP为基准,将附着于机器人末端工件上的加工轮廓点映射成机器人工作空间中的虚拟轨迹点的方法.在给出工件上轨迹点与虚拟轨迹点的映射关系,完成虚拟TCP以及机器人末端TCP设置的基础上,在Fanuc机器人仿真软件RoboGuide中对该方法进行了运动仿真验证后进行了加工,测量了其刀具进给量.实验结果表明:利用该方法对机器人夹持的工件进行去毛边加工,完全满足生产加工的精度要求.