6R工业机器人在球管相贯焊接中的轨迹规划  

Trajectory Planning of 6-DOF Industrial Robot in the Tube-sphere Intersection Welding

作　　者：蔡军[1] 丁宗兴 张毅[1] 

机构地区：[1]重庆邮电大学信息无障碍工程研发中心,重庆400065

出　　处：《机械设计与研究》2015年第4期32-35,48,共5页Machine Design And Research

基　　金：激光加工机器人研发(渝财金[2013]442号)科技部国际合作项目(2010DFA12160);重庆市科技攻关项目(CSTC;2010AA2055)

摘　　要：球管相贯焊缝是典型的、复杂的空间曲线。建立简便、准确的相贯线数学模型,是满足焊枪头在加工过程中对姿态要求严格的前提。针对6R工业机器人的特殊结构和在加工过程中焊接工艺的要求,提出了一种控制焊枪头位置和姿态的连续轨迹规划方法,并根据球管相贯的模型特点,给出了一种由球面上三点确定相贯线的焊枪位置插补算法。最后对机器人的轨迹规划方法进行实验分析,证明了该轨迹规划方法能够完成焊接头位置和姿态的有效控制。该方法控制简便、计算量小、通用性强,对工业机器人在加工相贯线焊接时的轨迹规划有重要的参考价值。The intersection of tube-sphere is a typical complex space cure. Building an accuracy math model is the key to meet the strict requirement of welding torch＇s gesture in the process of welding. Basing on the structure of 6- DOF industrial robot and the process requirement, a continuous trajectory planning method which can effective control the position and posture of the end of welding gun is put forward. According to the trait of tube-sphere model, a position interpolation algorithm of the intersecting line trajectory, which is obtained by the three points on the ball surface, is described. Simulation results show that higher efficiency as well as better welding quality can be achieved. This method has a less calculation, commonality and more convenient operation. It has an important reference value for trajectory planning of the industrial robot in the field of welding for the intersection.

关 键 词：工业机器人 相贯线模型 姿态 位置 轨迹规划 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]