双机器人协调焊接任务规划及仿真  

Task planning and simulation of two-robot welding coordination

作　　者：张铁[1] 欧阳帆[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广州510640

出　　处：《焊接学报》2012年第12期9-12,113,共4页Transactions of The China Welding Institution

基　　金：国家863高技术研究发展计划资助项目(2009AA043901-3);广东省科技计划项目(2010B080703004);粤港关键领域招标(20090101-1);广东省省部产学研项目(2010B090400259);广东省战略性新兴产业项目(2011A091101001)

摘　　要：针对复杂曲线焊缝,对一台机器人夹持待焊接的工件,另一台机器人对物体进行焊接的双机器人协调焊接运动问题展开研究,建立了双机器人协调焊接坐标系,采用非主从式运动学轨迹规划,给定待焊接物体上某一点u的位姿,通过点u到焊接机器人和夹持机器人工具末端的两个约束矩阵,分别计算得到焊接机器人和夹持机器人的末端轨迹;焊接过程采用船形焊缝约束,保证焊枪与焊缝在弧焊过程中始终处于接头成形良好的位置,建立双机器人协调焊接Solidworks-SimMechanics仿真平台,并对一个管道直角钢制弯头的协调焊接进行了运动学轨迹规划和仿真.结果表明,建立的平台能精确和有效地对双机器人协调焊接运动进行任务规划和分析,机器人运动轨迹与规划的轨迹一致.This paper focuses on the dual-robot welding coordination of complex curve seams that one robot grasps the workpiece while the other holds the torch,then the two robots work on the same workpiece coordinately.The dual-robot coordination system is established at the beginning,after that,the non master/slave scheme is chosen for the kinematics trajectory planning.The non master/slave scheme sets the position and poses of the point on the workpiece,and calculates the end effecter trajectories of both robots through the constrained matrixes respectively.Downhand welding is employed in the kinematics trajectory planning that can guarantee the torch and the weld in good contact condition all the time during the welding process.Moreover,a Solidworks-SimMechanics platform is established for motion simulation,and an example of curved steel pipe welding is conducted.The results indicate that the established platform is accurate and effective for the task planning and analysis welding coordination of two robots.The output trajectories of both the joint displacements and end effectors are the same as predefined ones.

关 键 词：复杂曲线焊缝 双机器人 协调焊接 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]