基於Solidworks API之機械手臂CAM技術研發

Abstract

目前的商用CAM軟體已經廣泛地應用於機械手臂加工上，但商用CAM軟體價格昂貴且軟體功能眾多操作不易上手，使得中小企業較難負擔，由於某些加工應用工序較為簡單，例如：去毛邊、焊接或拋光等，因此本研究開發CAM軟體技術架構於Solidworks助於提升應用價值並且可以降低成本。 本論文基於Solidworks研發一套機械手臂CAM軟體，此研究主要分為刀具路徑規劃演算法及圖形化介面開發。刀具路徑規劃以NUBRS演算法為基礎，對曲線與曲面進行兩種規劃方式分別為公差規劃和步長規劃，公差規劃會以公差與最大步長參數進行演算，使曲線誤差符合使用者設定之公差，且能確保線段平均讓加工品質更佳優良；步長規劃則以步長參數進行演算，在不考慮公差狀況下，使規劃的每一線段接近使用者設定之步長並且達到線段平均。在加工應用情況下，會因刀具直徑有所不同，需進行刀具偏置，因此本論文應用曲線偏置演算法來進行補償。圖形化介面透過Solidworks API進行開發，提供加工曲線與曲面選擇、刀軸方向切換及切削參數設定且能儲存設定，並能輸出刀具路徑資料，轉換成NC碼格式應用於機械手臂加工，實現CAM於Solidworks軟體上規劃加工刀具路徑。

Commercial CAM software has been working very widely for Industrial Manipulators. However, it is too expensive and difficult to operate because many functions are not be used in robot applications. Therefore, SMEs (Small and Medium Enterprises) can’t afford to buy it. Due to the operation of some processing applications being relatively simple, e.g., deburring, welding, and polishing processing, the research and development of CAM software technique based on Solidworks is developed to enhance the application value and lower costs. This thesis researches a set of CAM software based on Solidworks for industrial manipulator. This research is mainly divided into tool path planning algorithm and graphical interface development. Tool path planning is based on NUBRS algorithm. Two planning methods for curves and surfaces are tolerance planning and step planning. Tolerance planning is calculated by the parameters of tolerance and maximum step to make the curve error meet the tolerance of the user setting and ensure the segment average of the curve to make the processing quality better. Step planning is calculated by the parameter of step to make every segment of the curve be close to the step of user setting and reach the average of the segments without considering the tolerance. In the case of processing applications, the tool needs to be offset due to the difference of the tool diameter. Therefore, this thesis applies the curve offset algorithm to compensate. The graphical interface is developed via Solidworks API. It provides the selection of processing curves and surfaces, the switch of the tool axis direction, and the setting of the cutting parameter; moreover, it can store these settings and output the tool path data. Furthermore, convert the tool path data into NC code format and apply it to process for industrial manipulator. Finally, CAM technique is implemented to plan the processing tool path on Solidworks software.