MOTOMAN机器人MIG焊快速成型中的控制方法研究  

Research on Control Method of MOTOMAN Robot MIG Welding Rapid Prototyping

作　　者：金涛斌 刘正文 刘俊岭 焦向东[2] JIN Tao-bin;LIU Zheng-wen;LIU Jun-ling;JIAO Xiang-dong(Shaoxing Rail Transit Group Co.,Ltd.,Shaoxing 312000,China;School of Mechanical Engineering,Beijing Institute of Petrochemical Technology,Beijing 102617,China)

机构地区：[1]绍兴市轨道交通集团有限公司,浙江绍兴312000 [2]北京石油化工学院机械工程学院,北京102617

出　　处：《机械工程与自动化》2019年第1期160-162,共3页Mechanical Engineering & Automation

摘　　要：在电弧焊接快速成型系统中应用关节式机器人,使其按规划路径轨迹带动焊炬运动。首先对机器人进行运动学建模并仿真,完成其正逆解运动算法后,再移植到系统控制软件中结合已有的路径规划算法,用于MOTOMAN机器人路径姿态JBI文件的生成,再通过对MOTOCOM32通信及控制库函数的封装调用,达到对机器人实时监视控制的目的,从而实现了机器人的电弧焊接快速成型控制功能,取得了良好效果。In the paper,a robot was used in the arc welding rapid prototyping system to drive the torch movement according to the planned path.Firstly,the kinematics modeling and simulation of the robot were conducted,the forward and inverse kinematics analysis was completed.Secondly,the kinematic algorithm was transplanted into the system control software and combined with existing path planning algorithm,to generate the MOTOMAN robot path attitude JBI file.Finally,through the package of MOTOCOM32 communication and control library,the real-time monitoring of the robot was achieved,and the robot arc welding rapid prototyping control function was realized,and the result was satisfied.

关 键 词：快速成型 机器人 电弧焊接 MOTOMAN 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]