摘要
为了解决在球管接头处焊接作业的机器人焊接路径的规划难点,以UR5焊接机器人做参考,对球管相贯空间曲线建模并推导出该曲线的参数方程,建立D-H坐标系,分别对其正向和逆向求解,采用Matlab和Adams联合仿真,获得了末端执行器轨迹规划路径及各关节的角速度、角加速度时间变化曲线。结果表明,UR5焊接机器人模型正确、合理,具有良好的运动学性能,并且在焊接过程中姿态没有发生突变;同时,也验证了相贯焊接焊缝的轨迹规划操作空间的合理性和可靠性,为在复杂工作环境中进行焊接作业提供了一种验证手段。该验证方法为后续进一步研究样机控制提供了理论支撑。
In order to solve the problem of robot welding path planning for welding work at the ball pipe joints,taking the UR5 welding robot as a reference,the models of ball pipe intersection curve is established and the parameter equation of the curve is derived,the D-H coordinate system is established,the forward and reverse directions are solved respectively,by using the Matlab and Adams joint simulation,the trajectory planned path of end effector and the angular velocity and angular acceleration time change curve of each joint are obtained.The test shows that the UR5 welding robot model is correct and reasonable,has good kinematics performance,and has no sudden changes in the posture during the welding process.It also verifies the rationality and reliability of the trajectory planning operation space of the intersecting welding seam.It provides a verification method for welding operations in a complex working environment.The verification method can provide theoretical support for further research on prototype control.
作者
杨成超
Yang Chengchao(Mechanical and Electrical College,Changchun Vocational and Technical College,Changchun 130022,China)
出处
《机械传动》
北大核心
2021年第12期68-73,共6页
Journal of Mechanical Transmission
基金
吉林省教育科学研究课题(ZD19131)
长春市教育科学“十四五”2021年度规划课题(JKBLX2021084)。
