双机器人协调点焊路径优化算法研究  

Research on Path Planning of Double Robot Coordination Spot Welding Based on Multi-Objective Genetic Algorithm

作　　者：王威 许勇 吕叶萍 孙峰磊 WANG Wei;XU Yong;LV Ye-ping;SUN Feng-lei(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China;R&D Department,FFT(Shanghai)Manufacturing Systems Engineering Co.,Ltd.,Shanghai 201805,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620 [2]爱孚迪(上海)制造系统工程有限公司研发部,上海201805

出　　处：《组合机床与自动化加工技术》2020年第6期88-93,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：上海高校中青年教师国外访学进修计划资助项目(2018622);上海市研究生科研创新计划资助项目(E3-0903-18-01020)。

摘　　要：针对双机器人协调点焊白车身前门的焊接路径研究,提出一种多目标遗传算法的点焊路径优化方法。所提算法利用机器人平稳性函数、焊点质量函数、焊钳的可操作性函数以及协调碰撞检测函数,可以实现双机器人协调焊接路径规划,通过分析由于焊钳位姿无法精确控制而引起焊点质量问题,提出了焊钳法向调姿方法,通过对白车身结构件车门窗围25个焊点分布属性及双机器人协调运动焊接要求进行分析,利用齐次变换矩阵和机器人逆解公式求得机器人各个关节角变化量,在Matlab得到双机器人协调运动柔顺焊接路径结果。最后,在机器人离线编程软件RobotStudio建立双机器人协调焊接工作站,对规划结果进行仿真试验验证。结果表明,该方法可以在实际焊接环境中实现双机器人协调点焊路径规划,对提高焊点质量与焊接效率奠定了理论基础。Aiming at the welding path research of the double-robot coordinated spot welding body-in-white front door,a multi-objective genetic algorithm for spot welding path optimization is proposed.The proposed algorithm can realize the dual robot coordinated welding path planning by using the robot stationarity function,the solder joint mass function,the operability function of the welding tongs and the coordinated collision detection function.The welding point can be caused by the inability to accurately control the position of the welding tongs.In the quality problem,the normal attitude adjustment method of the welding tongs is proposed.By analyzing the distribution properties of the 25 welding points of the door and window of the white body structure and the requirements of the coordinated motion welding of the two robots,the robot is obtained by using the homogeneous transformation matrix and the inverse formula of the robot.The amount of joint angle change was obtained in Matlab.Finally,a robotic off-line programming software RobotStudio was established to establish a dual robot coordination welding station,and the simulation results were verified by the planning results.The results show that the proposed method can realize the dual robot coordinated spot welding path planning in the actual welding environment,which lays a theoretical foundation for improving the welding spot quality and welding efficiency.

关 键 词：双机器人 协调点焊 遗传算法 RobotStudio 路径规划 

分 类 号：TTH165[金属学及工艺—金属切削加工及机床] TG659