6DOF焊接机器人运动学分析及仿真  

Kinematics Analysis and Simulation of 6DOF Welding Robot

作　　者：宁青杰 施立品 唐兵[1] 张宝宁 NING Qing-jie;SHI Li-pin;TANG Bing;ZHANG Bao-ning(School of Mechanical Electronic and Information Engineering China University of Mining and Technology,Beijing 100083,China)

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083

出　　处：《机械设计与制造》2022年第4期246-252,共7页Machinery Design & Manufacture

基　　金：国家重点研发计划项目资助(2018YFC0810500)。

摘　　要：研究中厚板材的大范围跨度和无突变性焊接的关键技术,以保证液压支架的焊接效率、精度和质量。这里以工业用6DOF焊接机器人SR165为研究对象,基于D-H参数建模方法对焊接机器人SR165的正、逆运动学进行求解,采用蒙特卡罗法分析了该机器人的有效工作空间,利用MATLAB工具箱对其手腕末端点(TCP)进行工作空间云图、角位移、角速度和角加速度仿真。仿真结果满足该焊接机器人的运动学要求,为该类机器人的空间规划,轨迹规划、动静力学分析和运动控制等提供了参考依据。In order to ensure the welding efficiency,accuracy and quality of the hydraulic support,the key technology of the large-scale span and non-mutagenicity welding of medium-thick plate is studied.The forward and inverse kinematics of the industrial 6DOF welding robot SR165 are solved based on D-H parameter modeling method.Then,Monte Carlo method was used to analyze the effective workspace of the robot.And the workspace cloud,angular displacement,angular velocity and angular acceleration are simulated by using the MATLAB toolbox at the end of the Tool Center Point(TCP).The simulation results meet the kinematic requirements of this welding robot and provide a reference for space planning,trajectory planning,dynamic and static mechanics analysis and motion control of similar robots.

关 键 词：焊接机器人 D-H建模 蒙特卡罗法 工作空间 轨迹规划 

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]