摘要
针对箱型钢的结构特征和焊接过程特点,设计了一款5自由度的轨道式焊接机器人,用于箱型钢结构安装现场的自动化焊接.采用D-H法,建立了机器人运动学模型,并通过特定的代数方法进行了逆运动学求解,推导出了焊枪末端的空间位姿参数与焊接机器人各关节变量的解析关系模型.在此基础上,采用连续路径运动的轨迹规划法,在给定焊枪末端轨迹时,对各关节的运动情况进行了MATLAB仿真研究.结果表明,导出的逆运动学求解模型可用于箱型钢结构焊接机器人的连续运动轨迹和姿态规划和控制,为实施机器人的运动控制奠定了基础.
According to the structural characteristics of box-type steel structure and its particularities of welding process,a kind of orbital welding robot with 5 degrees of freedom is designed,which could be used for the automatic welding of boxtype steel structure in the installation site. The kinematic model of the robot is established by D-H method. Through specific algebraic method,the solution of inverse kinematics is deduced,and the relationship between the spatial pose parameters of the welding torch and the joint variables of the welding robot are established. After that,on the basis of the trajectory planning approach for the continuous path motion,the motion of each joint is researched by MATLAB simulation. The results show that the deduced mathematical model for the solution of inverse kinematic can be applied to the planning and control for the continuous trajectory and attitude of the welding robot for the box-type steel structure,which lays the foundation for implementing the motion control of welding robot.
出处
《焊接学报》
EI
CAS
CSCD
北大核心
2017年第12期95-98,共4页
Transactions of The China Welding Institution
关键词
箱型钢结构
焊接机器人
轨迹规划
运动学模型
末端位姿
box-type steel structure
welding robot
trajectory planning
kinematics model
terminal position and posture
