焊接机器人的工作空间分析与运动学仿真  

Workspace Analysis and Kinematics Simulation of Welding Robot

作　　者：杨永鲲 钟文楣 韩金孝 YANG Yongkun;ZHONG Wenmei;HAN Jinxiao(Parts Processing Plant No.6,Northwest Industrial Group Co.,Ltd.,Xi'an 710021,China)

机构地区：[1]西北工业集团有限公司零件加工六分厂,西安710000

出　　处：《机械工程师》2023年第6期79-81,共3页Mechanical Engineer

摘　　要：为了进一步明确焊接机器人工作过程中的运行状态,根据D-H法建立了焊接机器人的运动学数学模型,并利用Matlab软件建立了机械臂模型,采用蒙特卡罗法分析了机器人的工作空间,求解出焊接机器人的工作空间云图。然后根据实际工况,利用ADAMS软件对焊接机器人的两个连续点焊工艺动作进行虚拟仿真。结果表明:焊接机器人除启动过程中的瞬间加速度有突变外,其余运动过程平稳顺滑、振动较小,满足使用要求。对焊接机器人的工作空间运动特性仿真分析有利于后续的进一步优化研究。In order to further clarify the operational status of the welding robot during operation,this paper establishes the kinematic mathematical model of the welding robot according to the D-H method,and uses the Matlab software to establish the mechanical arm model.By using Monte Carlo method,the working space of the robot is analyzed to solve the cloud map of the working space of the welding robot.Then,according to the actual working conditions,the ADAMS software is used to perform virtual simulation of the two continuous spot welding process movements of the welding robot.The results show that except for the sudden acceleration of the welding robot during the start-up process,the rest of the movement process is smooth and steady,and the vibration is small,which meets the requirements of use.The motion characteristics simulation analysis of the welding robot's workspace is conducive to further optimization research.

关 键 词：焊接机器人 工作空间分析 工艺动作 动力学仿真 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]