基于需求设计的并联结构相贯线焊接机器人  

Intersection Line Welding robot with parallel structure based on needs design

作　　者：陈树君[1] 涂志伟[1] 侯润石 白立来[1] 刘翼[1] 卢振洋[1] 于洋[1] 管新勇[1] 

机构地区：[1]北京工业大学汽车结构部件先进制造技术工程中心,北京100124 [2]杭州凯尔达机器人科技股份有限公司,浙江杭州311232

出　　处：《电焊机》2013年第3期13-17,共5页Electric Welding Machine

摘　　要：相贯线焊接接头是一种复杂的空间曲线焊缝形式,给焊接运动控制提出了较高的要求。本研究从相贯线数学模型出发,运用D-H方法建立运动学逆解模型,基于整体考虑实际焊接需求的机构设计与简化控制策略思想,提出一种具有四自由度的并联式焊接机器人,实现整体旋转、升降及焊枪手腕机构的解耦控制。以一种斜插相贯线轨迹为例,通过运动仿真,初步验证了所设计的机构及控制策略的正确性。最终制作出并联结构相贯线机器人实物。本研究设计的机器人具有小型化、高刚度、运动解耦的特点,为实现精确的运动轨迹控制提供硬件准备。The joint trajectory of two intersected pipes （usually be called intersection line） is a complicated 3D curve which poses a higher demand for the welding motion control.Based on the mathematical model of the intersection line,the inverse kinematical model was established by the D-H method.Then,an intersection line welding robot with 4 degrees freedom and parallel stn, cture was invented under the consideration of the welding practice, the feasibility for mechanical design, and simplification of the control strategy.The invented robot can realize lifting and rotational movement of the robot body and the posture adjustment of the robot arm by decoupling control.Additionally,the function of the mechanism and the control strategy were verified by motion simulation method,which was perfomled by using a tilted intersection line as testing task.The robot prototype was accomplished which can provide hardware for realizing precise motion contrnldue to its miniaturization, high stiffness and movement decoupling merits.

关 键 词：焊接机器人 相贯线焊缝 并联结构 

分 类 号：TG439.9[金属学及工艺—焊接]