介绍了喷砂机器人的基本结构,并从虚拟环境创建、程序编制、仿真验证等方面论述了离线编程技术。为提高编程效率和编程质量,重点对轨迹设计、模块化编程、子程序及母程序的生成等进行了探讨,提出了若干编程方法。与此同时,通过试验和粗糙度数据分析,进一步论证了离线编程的质量稳定性。

The basic structure of sandblasting robot was introduced,and the off-line programming technique was discussed from the aspects of virtual environment creation,programming,simulation verification and so on.In order to improve the programming efficiency and quality,trajectory design,modular programming,generation of subroutine and parent program were mainly discussed,and some programming methods were put forward.At the same time,the quality stability of off-line programming was further demonstrated by experiments and roughness data analysis.