摘要
采用UGNX4.0系统对日本安川电机株式会社生产的MOTOMAN-HP6型弧焊机器人进行了整体的模型装配,并建立了三维运动仿真模型.运用UG/OPEN API提供的二次开发函数,采用VC++6.0进行编程的方法,建立了连杆坐标系下的弧焊机器人运动学模型.阐述了弧焊机器人模型的建立方法、装配方式以及运动仿真,从而为Unigraphics(UG)环境下的离线编程技术打下了良好的基础.
With UGNX4.0,the assembly of solid model was taken and then 3D motion simulating model of MOTOMAN- HP6 arc welding robot made by YASKAWA Electric Corporation in Japan was established. The kinematics model of arc welding robot under link-pole coordinate system was established by the second development function offered by UG/OPEN API and by the method of programming using VC＋＋6.0. The model founding method and assembly types and motion simulation were introduced,which provides a good basis for off-line programming technique under UG condition.
出处
《天津大学学报》
EI
CAS
CSCD
北大核心
2009年第6期518-522,共5页
Journal of Tianjin University(Science and Technology)
