| 摘要: |
| 卫星智能生产线需满足多型号、多批次产品柔性共线生产需求，现场机器人示教已严重制约装配系统设备利用率及产能提升。本文通过使用3D点云扫描技术和Tecnomatix平台，建立智能装配线高精度数字孪生模型，实现仿真模型与现场实物基本一致。在仿真平台中提前充分验证机器人装配工艺，识别并优化产品与工艺设计，验证工装夹具干涉性及可达性，输出高精度机器人离线轨迹程序。结果表明，该方法获得的高精度机器人离线轨迹在导入现场机器人后可直接载入机器人应用，显著缩短现场机器人示教时间，降低工艺与质量风险，提高生产效率。 |
| 关键词: 卫星装配 Tecnomatix平台 3D点云 机器人仿真 离线编程 |
| 基金项目:国防科工局“十四五”预先研究项目（D02***1）。 |
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| Satellite Intelligent Assembly System Robotics Assembly Simulation and High Precise Offline Programming |
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Luo Zhengping Liu Kang Liu Feng Shen Wenfa Ma He Han Wenpeng Liu Haoyi Lin Feng
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CASIC Space Engineering Development Co., Ltd., Wuhan 43700
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| Abstract: |
| A certain satellite intelligent production line needs to meet the flexible production needs of multiple models and batches of products, and on-site robot teaching has seriously constrained the utilization rate and production capacity improvement of assembly system equipment. This article establishes a high-precise digital twin model of an intelligent assembly line using 3D point cloud scanning technology and Tecnomatix platform, achieving simulation models and on-site physical objects. Fully validate the robot assembly process in advance on the simulation platform, identify and optimize product and process design, verify fixture interference and accessibility, and output high-precise offline robot trajectory programs. The results show that the high-precise offline trajectory of the robot obtained by this method can be directly applied after being imported into the on-site robot, significantly reducing the teaching time of the on-site robot, reducing process and quality risks, and improving production efficiency. |
| Key words: satellite assembly Tecnomatix platform 3D point cloud robotics simulation offline program |
