六轴焊接机器人关节轨迹规划与仿真  

Joint Trajectory Planningand Simulation of Six Axis Welding Robot

作　　者：李大瑞 肖平[1] 孙永久 LI Darui;XIAO Ping;SUN Yongjiu(School of Mechanical Engineering,Anhui Polytechnic University,wuhu 241000,China;Robot R&D Center,Anhui Pulun Intelligent Equipment Co.,Ltd,wuhu 241000,China)

机构地区：[1]安徽工程大学机械工程学院,安徽芜湖241000 [2]安徽普伦智能装备有限公司机器人研发中心,安徽芜湖241000

出　　处：《东莞理工学院学报》2023年第3期120-124,共5页Journal of Dongguan University of Technology

基　　金：国家自然科学基金(52171148);安徽工程大学-鸠江区协同创新基金项目(2022cyxtb3)。

摘　　要：为了保证焊接机器人运动时关节空间轨迹曲线的平滑度和工作效率,减少焊接机器人在焊接作业时的冲击力和运动时间,对六轴点焊机器人轨迹进行了优化。首先,建立焊接机器人的物理模型,分析六轴机器人的运动特性。在此基础上,使用五次多项式插值算法进行理论模型构建;分析机器人在点焊过程中角速度和角加速度有无突变;提出一种时间调节策略减少关节运动时间;基于Matlab软件编写程序模型并对焊接机器人的关节进行轨迹仿真试验。结果表明:角速度和角加速度无突变且到达各点位时都为零,大大减少了机器人到达焊点时的冲击力;且通过合理的时间调节,减小了关节运动时间,提高了焊接效率。In order to ensure the smoothness and efficiency of the joint space trajectory curve when the welding robot moves,and reduce the impact force and movement time of the welding robot during welding,the trajectory planning of a six axis spot welding ro⁃bot was studied.Firstly,the physical model of the welding robot is established,and the motion characteristics of the six axis robot are analyzed.On this basis,the fifth order polynomial interpolation algorithm is used to build the theoretical model;it is analyzed whether there is sudden change in angular velocity and angular acceleration of the robot during spot welding;a time regulation strate⁃gy is proposed to reduce the joint motion time;the program model is compiled based on Matlab software and the trajectory simulation test of the joint of the welding robot is carried out.The results show that the angular velocity and angular acceleration have no change and reach zero points,which greatly reduces the impact force when the robot reaches the solder joint,and the reasonable time ad⁃justment reduces the joint movement time and improves the welding efficiency.

关 键 词：轨迹规划 六轴机器人 五次多项式 焊接机器人 

分 类 号：TP918.1[自动化与计算机技术]