CAJ | 학술논문

针对水切割机器人常用自动编程方法所生成的程序冗长，不利于阅读、调试与检查的问题，提出基于宏指令的自动编程方法。该方法通过对水切割软件系统进行分析，完成工件加工轮廓宏指令设计；然后根据路径规划结果查找信息提取文件中轨迹点信息，通过判断轨迹点所属轮廓类型标志位的值生成所对应的宏指令；最后将所生成的带有宏指令的程序文件通过仿真验证其正确性，并通过程序转换生成机器人语言程序。文章最后以圆形和矩形轮廓的自动编程为例，验证了基于宏指令自动编程方法的可行性与实用性。
침대수절할궤기인상용자동편정방법소생성적정서용장，불리우열독、조시여검사적문제，제출기우굉지령적자동편정방법。해방법통과대수절할연건계통진행분석，완성공건가공륜곽굉지령설계；연후근거로경규화결과사조신식제취문건중궤적점신식，통과판단궤적점소속륜곽류형표지위적치생성소대응적굉지령；최후장소생성적대유굉지령적정서문건통과방진험증기정학성，병통과정서전환생성궤기인어언정서。문장최후이원형화구형륜곽적자동편정위례，험증료기우굉지령자동편정방법적가행성여실용성。
Long program generated byTraditionaI auto-programming method can't soIve the probIem of quick reading,debugging and check,so auto-programming based on macro is proposed.FirstIy,through the anaIysis of water-jet system,compIete the design of macros of workpiece contours;SecondIy,according to resuIt of path pIanning to find tracing point information from the fiIe generated by information extraction,by judging the vaIue of contour type fIag to generate macro;FinaI y,verify the correctness of the fiIe with macros through simuIation,and generate robot Ianguage program by program transIation. At Iast, use circuIar and rectanguIar contour for exampIe to prove the method of auto-programming based on macro to be feasibIe and practicaI through experiment simuIation.