白车身焊接机器人干涉问题研究  

Research on interference problem of body-in-white welding robots

作　　者：刘海江[1] 张春伟[1] 姜冬冬[1] 

机构地区：[1]同济大学机械工程学院,上海201804

出　　处：《机械设计》2011年第3期41-44,共4页Journal of Machine Design

基　　金：国家高技术研究发展计划"863计划"资助项目(2008AA04Z105)

摘　　要：以实际工程为研究背景,通过几何建模,建立白车身焊接机器人关节包络简化模型,根据多机器人间的启动时间差和焊点优先权设置,提出一种机器人干涉规避算法,解决多机器人在焊接生产线上的动态干涉问题,最后用ROB-CAD软件建立KUKA机器人仿真模型,验证了该算法的正确性。In this paper,by uaking the practical engineering as the research background,the joint envelope simplified model of body-in-white welding robot was established by means of geometric modeling.Based on the start time difference and welding spot priority setting among robots,a kind of robot avoidance algorithm was proposed,the dynamic interference problems among robots in welding production line were solved.The KUKA robot simulation model was finally established by ROBCAD to verify the correctness of the algorithm.

关 键 词：白车身 焊接机器人 焊接生产线 动态干涉 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]