ABB工业机器人虚拟仿真与离线编程

本书基于ABB公司的RobotStudio软件, 以“1+X”工业机器人应用编程职业技能中级证书考核标准为依据, 介绍创建机器人工作站、创建仿真工作站动态效果、机器人汉字书写工作站离线编程与真机验证、机器人装配工作站仿真及VR验证、机器人打磨工作站仿真等内容。

赵伟，哈尔滨工业大学机械电子专业博士，副教授，深圳职业技术学院机电学院专职教师，主持多项省级及学校教改研究课题，获得全国行业职业技能竞赛人工智能技术应用技能竞赛全国冠军，长期从事工业机器人的产品开发和教学，具有丰富的实践和教学经验。

  绪论―――工业机器人离线编程与虚拟仿真概述 ·····················································．1

项目 1 创建机器人工作站 ··············································································．5

任务 1．1 RobotStudio 功能介绍及界面认知···················································．5

任务 1．2 机器人属性设置及虚拟控制器的创建·············································．11

任务 1．3 周边设备的创建与导入·······························································．21

任务 1．4 工具的创建 ··············································································．34

任务 1．5 机械装置的创建 ········································································．39

项目 2 创建仿真工作站动态效果 ·····································································48

任务 2．1 机器人标准 I/O 板及信号的配置 ···················································．48

任务 2．2 使用事件管理器创建气缸伸缩动作················································．53

任务 2．3 使用 Smart 组件创建主盘工具的开合动作 ·······································．59

任务 2．4 使用 Smart 组件控制工具拾取和放置 ·············································．62

任务 2．5 使用 Smart 组件控制夹爪开合动作 ················································．71

任务 2．6 使用 Smart 组件控制物料取放 ······················································．76

任务 2．7 使用 Smart 组件实现旋转供料 ······················································．86

任务 2．8 使用 Smart 组件实现井式上料 ······················································．90

任务 2．9 使用 Smart 组件实现输送带传送物料 ·············································．99

任务 2．10 使用 Smart 组件实现预置多个物料自由下落·································．101

任务 2．11 使用 Smart 组件实现关节成品装配·············································．109

任务 2．12 工作站逻辑的设置及仿真信号控制 ··············································115

项目 3 机器人汉字书写工作站离线编程及真机验证··········································．121

任务 3．1 工具数据和工件坐标的创建·······················································．121

任务 3．2 自动测载荷程序的应用·····························································．127

任务 3．3 机器人运行轨迹的自动生成·······················································．134

任务 3．4 机器人运行轨迹的优化·····························································．141

任务 3．5 仿真设定和仿真后续处理··························································．148

任务 3．6 离线程序的真机验证································································．154

任务 3．7 运动学奇点 ············································································．165

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ABB 工业机器人虚拟仿真与离线编程

项目 4 机器人装配工作站仿真及 VR 验证 ······················································．170

任务 4．1 关节成品装配程序的编写··························································．170

任务 4．2 基于 VR 的工作站仿真验证 ·······················································．180

任务 4．3 基于 OPC UA 的西门子 PLC 与 RobotStudio 软件联合仿真···············．183

项目 5 机器人打磨工作站仿真 ·····································································．197

任务 5．1 机器人打磨工作站的创建与调试·················································．197

任务 5．2 欧拉角与四元数 ······································································．202

附录 Smart 组件属性说明···········································································．206