将工业机器人应用到增材制造系统中可显著提高其制造能力, 但在对机器人进行扫描轨迹编程时, 示教编程方式难以满足轨迹规划的复杂性和任意性, 而离线编程方式却能有效解决该问题。针对基于库卡某型工业机器人的同步送粉式激光沉积制造设备, 搭建了一套极具通用性和实用性的离线编程系统, 开展了机器人运动学算法研究、动态仿真系统开发、机器人程序输出等工作, 成功将现有专用于金属件沉积成形的辅助编程软件输出的分层切片扫描轨迹数据转换成了机器人6个旋转关节分量, 为沉积制造过程动态仿真和机器人程序输出提供了准确的数据源。通过开展现场试验对系统功能进行了全面验证, 制件形貌达到预期要求, 试验结果表明, 机器人运动学算法准确、位姿变换平滑, 仿真动作姿态与实际完全一致, 输出的机器人程序准确, 解决了先前为工业机器人编制任意、复杂扫描轨迹运动程序较难的问题。

The application of industrial robots to the material increasing manufacturing system can significantly improve its manufacturing capacity, but when the robot is programmed with a scan path, teaching programming method is difficult to deal with the complexity and the arbitrary nature of the path planning, however, off-line programming method can solve this problem effectively. A set of very general and practical off-line programming system has been built for the synchronous powder feeding laser deposition manufacturing equipment based on a certain type of KUKA robot, then, some works such as the research of robot kinematics algorithm, the development of dynamic simulation system and the output of robot program have been carried out, finally, the slice scan path data, which is output by the auxiliary programming software, which is used for the forming of the metal parts, has been successfully converted into the robot's 6 rotating joint parameters to provide accurate data source for the dynamic simulation of the deposition manufacturing process and the output of the robot program. The system function has been verified through the field test, and the shape of the test article has reached the expected requirements, the test results show that: the kinematics algorithm is accurate, the position and orientation transformation is smooth, the simulation action posture is completely consistent with the reality, and the output of the robot program is accurate, the problem that is previously difficult to design a arbitrary and complex scanning path motion program for a industrial robot has been solved.