移动焊接机器人的空间拓扑结构分析  

Analysis on topology structure of autonomous welding mobile robot

作　　者：张轲[1] 金鑫[1] 吴毅雄[1] 

机构地区：[1]上海交通大学材料科学与工程学院,上海200240

出　　处：《焊接学报》2010年第5期25-28,共4页Transactions of The China Welding Institution

基　　金：国家自然科学基金资助项目(50605044)

摘　　要：对移动焊接机器人的拓扑结构进行了分析.移动焊接机器人的基本结构主要为差速驱动的移动机器人本体配合快速调整的焊枪悬臂十字滑架.根据焊枪悬臂位置的不同可细分为焊枪位于车体前面、侧面、驱动轮的轴线上,或者焊枪悬臂可以绕驱动轮轴线中点旋转四种情况.结果表明,不同的拓扑结构,具有不同的运动行为以及跟踪适应性,其中焊枪位于两驱动轮轴线上的拓扑结构控制简单、运动灵活、焊接空间可达性强,在曲线以及大角度折线跟踪中不失为一种较为理想的选择.为不同的焊接应用场合选用不同的拓扑结构提供了选择依据.The topological structure of welding mobile ro-bot was analyzed.The topological structure of welding mobile ro-bot is mainly differential drive robot body and rapid adjustment cross sliders with several freedoms.According to the position of welding torch,namely,at the front,side,the axial line of the robot,or the welding torch can be rotated around the mid-point of axial line of driving wheels,the topological structures can be further sub-divided into four types.The simulation results show that the different topology has different kinematic behavior and suitability for seam tracking of different welding types.In parti-cular,the topology that the welding torch located in the axial line of driving wheel is simple,flexible and easy to approach the narrow welding space,it is an ideal choice to track the complex curved line and wide-angle broken line.The studied results pro-vide an analysis basis for the different application of welding mobile robot.

关 键 词：移动焊接机器人 差速驱动 拓扑结构 焊缝跟踪 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]