A Parallel Measuring Method for Robot Off-line Teaching Programming

Abstract

By analyzing the limitations of existing industrial robot programming methods in single-piece and small-batch process applications, the off-line teaching programming method of industrial robots is proposed. A six-DOF parallel measuring platform was designed to support this programming method. The communication between the host computer and the measuring platform is achieved through the network port, along with the simulation of the machining motion of an industrial robot is completed. By applying the forward kinematics of this platform, the position and orientation of the trajectory points on the workpiece are manually obtained. By plotting singularity locus of the parallel measuring platform, the singularity of the defined workspace is analyzed. Finally, the feasibility of robot off-line teaching programming by means of parallel measuring platform is verified by experiments.