接管焊接机器人运动学及轨迹修正  

Kinematics and track amendments of intersecting pipe welding robot

作　　者：杜宏旺[1,2] 王宗义[2] 刘少刚[1] 赵亚楠[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,哈尔滨150001 [2]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《焊接学报》2009年第7期45-48,115,共4页Transactions of The China Welding Institution

基　　金：中国石油化工集团-哈尔滨工程大学合作项目

摘　　要：针对接管相贯线焊接的特殊性,开发了悬挂式接管焊接四自由度机器人,介绍了机器人机械本体结构;根据关节关系,利用D-H坐标建立了机器人运动学模型;由于两接管存在的尺寸误差、加工误差和焊接受热变形的原因,为了保障焊接质量,对焊接轨迹进行示教,并采用线性插值方法修正理论轨迹;根据运动学模型,采用SemMechanic进行运动学仿真.结果表明,焊接质量完全达到规定要求.According to the welding particularity on the junctions of intersecting pipe,the 4 degrees of freedom suspended welding robot was developed and mechanical structure of the body was introduced. Based on the relation of the joints,the kinematics modeling was established with the method of D-H (Denavit-Hartenberg). To overcome the size error and processing error and welding distortion,the welding track was taught in order to ensure welding quality,and then theory track was amended by the linear interpolation. According to the kinematics modeling,the simulation was carried out with SemMechanic. The results of experiments show that the welding quality meet the requirements actually.

关 键 词：焊接机器人 运动学 示教 线性插值 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]