基于雷塞控制系统的五轴焊接机器人的轨迹规划  

Trajectory Planning of Five Axis Welding Robot Based on Reisser Control System

作　　者：李铭磊 孙涛[2] 刘海英[1] LI Minglei;SUN Tao;LIU Haiying(School of Electrical Engineering and Automation.,Qilu University of Technology(Shandong Academy of Sciences),Jinan Shandong 250306,China;School of Frontier Interdisciplinary Research Institute,Qilu University of Technology(Shandong Academy of Sciences),Jinan Shandong 250306,China)

机构地区：[1]齐鲁工业大学(山东省科学院),电气工程与自动化学院,山东济南250306 [2]齐鲁工业大学(山东省科学院),前沿交叉学科研究院,山东济南250306

出　　处：《机床与液压》2021年第3期30-34,共5页Machine Tool & Hydraulics

基　　金：齐鲁工业大学国际合作研究专项资金计划项目(QLUTGJHZ2018019)。

摘　　要：运用Denavit-Hartenberg方法建立了以旋转关节关节角和移动关节移动分量为变量的基于雷塞系统的五轴焊接机器人运动学模型,对五轴焊接机器人正运动学和逆运动学问题进行了求解分析;采用抛物线过渡的线性插值法对焊接机器人进行了轨迹规划,通过MATLAB Robotics Toolbox工具箱对五轴焊接机器人进行了运动学仿真,得到了焊枪末端轨迹图以及关节角、角速度、角加速度与时间的变化曲线,验证了所设计参数的合理性,达到了良好的效果。Using Denavit-Hartenberg method, the kinematics model of five-axis welding robot based on Reisser system was established, in which the rotating joint angle and the moving component of the moving joint were taken as variables. The forward kinematics and inverse kinematics of the five-axis welding robot were solved and analyzed. The parabolic transition linear interpolation method was used to plan the trajectory of the welding robot. The kinematics simulation of the five-axis welding robot was carried out by using the MATLAB Robotics Toolbox toolbox. The trajectory diagram of the end of the welding torch and the variation curves of the joint angle, angular velocity, angular acceleration and time were obtained. The rationality of the design parameters was verified.

关 键 词：五轴焊接机器人 轨迹规划 运动学分析 抛物线过渡 MATLAB仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]