一种可控机构式焊接机器人的焊接精度分析  

Welding Precision Analysis of a Controllable Mechanism Type Welding Robot

作　　者：叶兵 韦为[1,2,3] 李洪汉 周海[2] 李智杰 YE Bing;WEI Wei;LI Honghan;ZHOU Hai;LI Zhijie(School of Mechanical Engineering,Guilin University of Aerospace Technology,Guilin Guangxi 541004,China;School of Mechanical Engineering,Guangxi University,Nanning Guangxi 530004,China;School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou Guangdong 510640,China)

机构地区：[1]桂林航天工业学院机械工程学院,广西桂林541004 [2]广西大学机械工程学院,广西南宁530004 [3]华南理工大学机械与汽车工程学院,广东广州510640

出　　处：《机床与液压》2018年第15期55-57,共3页Machine Tool & Hydraulics

基　　金：广西高校机器人与焊接重点实验室主任/开放基金项目(JQR2015KF03);广西制造系统与先进制造技术重点实验室资助项目(15-140-30S001)

摘　　要：设计了一种具有十连杆五自由度的可控机构式焊接机器人,并针对可控机构低重心的特点以及焊接过程的实际工况,通过ADAMS软件对机器人机构进行刚性体和柔性体的建模,在直线匀速焊接轨迹下,仿真不同的焊接速度,分析可控机构式焊接机器人的刚性体和柔性体的焊枪末端位移随时间变化的特点,得到焊接机器人的焊接精度与焊接速度变化规律。A controllable mechanism type welding robot with ten connecting rod is designed,which have five degrees of freedom（ 5 Do F）. ADAMS software was carried out on the robot mechanism of rigid body and flexible body modeling for the characteristics of the low center of gravity to mechanism and the actual working condition of the welding process,at a constant speed in a straight line welding trajectory,the simulation of different welding speed was done. The welding robot controlled mechanism with the rigid body and flexible body characteristics of the displacement change over time at the end of the welding torch are analyzed to get the change rule of welding robot to welding precision and welding speed.

关 键 词：可控机构 焊接机器人 焊接精度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]