轮式移动焊接机器人运动学分析与仿真  

Kinematic analysis and simulation of wheelde mobile welding robot

作　　者：张晓莹[1] 陈鹿民[1] 温小隆[1] 谢烽[1] 

机构地区：[1]郑州轻工业学院,郑州450002

出　　处：《机械设计与制造》2010年第11期138-140,共3页Machinery Design & Manufacture

基　　金：河南省高校新世纪优秀人才支持计划项目(2006HANCET-18);郑州轻工业学院博士科研基金

摘　　要：介绍了一种以差动轮式小车为移动平台,以IRB1600ID型六自由度弧焊机器人为焊接机械臂的移动焊接机器人。对其进行了运动学分析,介绍了Pro/E和ADAMS无缝对接的方法,在Pro/E软件中建立了移动焊接机器人三维实体模型,并导入ADAMS中进行运动学仿真,得出了移动焊接机器人在特定运动状态下,手部末端的位移、速度及加速度特性曲线,为移动焊接机器人的后续研究提供了参考依据。It introduced a mobile welding robot which taked wheeld cart as the mobile platform and taked IRB1600ID 6-DOF welding robot as welding manipulator.Firstly,kinematics was analysed,then the seamless connection method of Pro/E and ADAMS was introduced. At last,it built the 3D virtual models of the mobile welding robot by Pro/E,and imported it into ADAMS to make simulation.The displacement, velocity and acceleration of the end of robot manipulator were gained by the simulation.This data provided a reference for following-up study of mobile welding robots.

关 键 词：移动焊接机器人 运动学 虚拟样机 ADAMS 

分 类 号：TH16[机械工程—机械制造及自动化]