六轴焊接机器人末端测量系统  

Six axis welding robot of terminal measurement system

作　　者：倪文彬[1] 蒋勇[1] 

机构地区：[1]南京理工大学泰州科技学院,江苏泰州225300

出　　处：《电焊机》2015年第6期41-45,共5页Electric Welding Machine

摘　　要：研发了一种用来测量六轴焊接机器人末端位置和方向的新型测量系统,该测量系统通过5个数字探头来获取焊接机器人末端的位置和方向等运动学参数。在六轴焊接机器人工作前,进行了末端位置测量系统的标定,标定后系统的定位精度为0.025 mm,定向精度为0.075°。实验中,通过末端测量系统得到了焊接机器人控制器增益调节过程中的位姿,并结合田口法找到了最佳控制器增益。实验结果表明,采用最佳控制器增益的焊接机器人末端的振动得到了有效抑制,在高频段的末端振动幅度降为原来的54%。对于多轴焊接机器人的控制具有重要价值。Develop a new measurement system which can measure position and orientation of the end-effector of a sixaxis welding robot.The measurement system gains kinematics parameters of the end-effector of the welding robot, such as the position and direction, through five digital probes.Calibration proeedure is applied to the probe system and accuracy of the system is measured.After the calibration,the positional accuracy is observed as 0.025 ram,and the orientation accuracy is 0.075°,respectively.In experiments, posture in the process of wehting robot controller gain control is obtained by the end-effector measuring system,and combined with taguchi method to find the optimal controller gain.The experimental results show that the best welding robot controller gain at the end of the vibration has been effectively suppressed,at the end of the high frequency vibration amplitude reduces to 54%.This research results have important value for multi-axis control welding robot.

关 键 词：焊接机器人 测量系统 控制 波动抑制 

分 类 号：TG409[金属学及工艺—焊接]