冗余移动焊接机器人运动学分析与轨迹规划  

Kinematics Analysis and Trajectory Planning of Redundant Mobile Welding Robot

作　　者：张华 郑鸣轩 范宇 刘诚 ZHANG Hua;ZHENG Ming-xuan;FAN Yu;LIU Cheng(Key Laboratory of Robot & Welding Automation of Jiangxi,NanChang University,Jiangxi Nanchang 330031,China)

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

出　　处：《机械设计与制造》2019年第A01期135-140,共6页Machinery Design & Manufacture

基　　金：国家863计划资助项目(2013AA041003)

摘　　要：设计了一款以四自由度机械臂为执行机构,以旋转电弧焊炬为末端执行器的冗余移动焊接机器人。对机器人移动平台进行建模分析并用改进D-H参数法对机械臂进行运动学分析,然后对其整体进行了集成运动学分析,得出执行器末端坐标系相对于笛卡尔坐标系的运动学关系;并提出一种基于移动机械臂的粒子群优化算法,以解决冗余移动机器人运动学逆解问题,为机器人的运动控制奠定了基础。针对格子型角焊缝提出了一种新的轨迹规划方法,用Matlab对目标轨迹所选取的离散点进行数值解析并进行高次多项式拟合,为后续设计控制提供高效准确的途径。A redundant mobile welding robot with a four-degree-of-freedom manipulator as the actuator and a rotating arc torch as the end effector was designed. In this paper, the robot mobile platform is modeled and analyzed, and the improved D-H parameter method is used to analyze the kinematics of the manipulator. Then the integrated kinematics analysis is carried out to obtain the kinematic relationship between the end coordinate system of the actuator and the Cartesian coordinate system. A particle swarm optimization algorithm based on mobile manipulator is proposed to solve the inverse kinematics problem of redundant mobile robots, which lays a foundation for the motion control of robots. A new trajectory planning method is proposed for grid-type fillet weld seam. Matlab is used to numerically analyze the discrete points selected by the target trajectory and perform high-order polynomial fitting, which provides an efficient and accurate way for subsequent design control.

关 键 词：移动平台 机械臂 集成运动学 粒子群优化算法 格子型角焊缝 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]