轮式机器人90°折线角焊缝跟踪运动动力学分析  

Kinematic and dynamic analysis of wheeled mobile robot for right-angle weld tracking

作　　者：周依霖 张华[1] 王帅[1] 

机构地区：[1]南昌大学江西省机器人与焊接自动化重点实验室,南昌330031

出　　处：《焊接学报》2017年第10期33-38,共6页Transactions of The China Welding Institution

基　　金：国家高技术研究发展计划资助项目(863计划;2013AA041003)

摘　　要：为了研究路径规划中机器人不同转向中心对90°折线角焊缝跟踪过程的影响,对焊缝跟踪过程进行了分析,建立了轮式移动机器人运动学模型;对轮子接地面进行了受力分析,建立了考虑轮子变形情况下机器人动力学模型;最后对机器人跟踪过程运动、动力学进行了仿真分析和焊接试验研究.结果表明,机器人转向中心的选取对左、右驱动轮转动角速度以及水平滑块伸缩速度影响较大;转向过程中左、右驱动轮所需驱动力受转向中心影响很小,且大小近似恒定,可视为稳态转向;拐点处实际速度以及速度变化与焊接要求速度有关,与转向中心的选取无关.In order to study the effect of different turning center in robot path planning on right-angle weld tracking,the kinematic model of wheeled mobile robot is established based on the analysis of weld tracking process. Through analyzing the forces which act on contact surface between wheel and ground,a dynamic model considering the wheel deformation is established.At last the simulations of robot and experimental study of welding are performed. The results indicate that the selection of turning center have a significant impact on both of the angular velocity of driving wheels and telescopic speed of horizontal slider. The influence of turning center on driving force can be ignored and the value of driving force is nearly constant when the robot turning.The turning of robot can be considered a stable process. The velocity of inflection point changes with the welding speed which required rather than the selection of turning center.

关 键 词：轮式移动机器人 90°折线角焊缝跟踪 转向中心 运动学 动力学 

分 类 号：TG409[金属学及工艺—焊接]