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介绍了汽车生产厂商的白车身在线测量系统中,利用Roboguide软件平台,应用虚拟现实技术对工业机器人在实际工业生产中的节拍任务进行仿真建模及离线编程的方法。通过在CATIA三维软件里建立测量部件模型,转换测量点三坐标值形成点云数据,利用激光跟踪仪获取机器人工位坐标;在Roboguide搭建在线测量工位的虚拟现实环境,结合Roboguide仿真技术实现了FANUC机器人的离线编程并导出数据实现机器人运动轨迹的优化。通过上汽通用五菱公司柳州宝骏生产基地的技术方案验证,满足生产节拍要求,研究成果直接应用于宝骏汽车两款车型的在线测量工位。
This paper introduces the auto body white measurement system of automobile manufacturer, and uses Roboguide software platform to simulate and off-line programming the tactical task of industrial robot in actual industrial production by using virtual reality technology. Through the establishment of the measurement component model in CATIA 3D software, converting the coordinate values of the measuring points to form the point cloud data, the robot coordinates are obtained by using the laser tracker; the virtual reality environment of the on-line measuring station is set up in Roboguide, combined with the Roboguide simulation technology FANUC robot offline programming and export data to achieve robot trajectory optimization. Through SAIC GM Wuling Liuzhou Po Chun production base of the technical program validation to meet the production cycle requirements, the research results directly applied to Po Chun Motors two models of online measurement stations.