弧焊机器人系统的运动学求解  

Kinematic Solution of Arc Welding Robot System

作　　者：陈志翔[1] 黄勇[1] 卢振洋[1] 殷树言[1] 

机构地区：[1]北京工业大学材料科学与工程学院,北京100022

出　　处：《北京工业大学学报》2002年第3期381-384,共4页Journal of Beijing University of Technology

基　　金：北京市科技基金资助项目(H010310050111).

摘　　要：建立了Motoman SK6机器人和二轴倾斜/回转焊接变位机的模型,用Denavit-Hartenberg方法建立了机器人操作臂和变位机的运动学方程,实现了运动学正解.根据机构特点用简化的几何解析法得到封闭形式的机器人运动学逆解,并实现了使变位机获得平焊位置的算法.通过机器人系统的运动学和平焊位置算法,可以实现焊缝在平焊位置焊接,从而保证了焊接质量.算法简单,且运行速度快,为实现弧焊机器人系统路径规划和离线编程奠定了基础.经过图形仿真与实际下载到机器人控制柜上运行,表明计算结果可以满足平焊位置焊接的要求.Based on the model of the Motoman SK6 robot and the rotating/ tilting welding positioner, the forward kinematics formula of robot and positioner are extablished with the Denavit-Hartenberg method. Then, the close-type inverse kinematics solution of robot and the downhand welding algorithm for positioner are obtained using a simple analytic geometry method. Through the algorithms, robot can weld the workpiece on downhand welding position, which is easer to ensure the good welding quality. The algorithms are straightforward, fast-running and, therefore, lay a foundation for path-planning and off-line programming for robot welding system. Through the graphic emulation and the running on the robot controller, it is shown that the calculated result can meet the requirement of welding in downhand position.

关 键 词：运动学 平焊位置算法 弧焊机器人系统 焊接质量 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]