焊接机器人机械结构设计与运动学分析  

Mechanical Structure Design and Kinematics Analysis of Welding Robot

作　　者：黄瑞 张敬修 王鹏 王轲 毕薇 Huang Rui;Zhang Jingxiu;Wang Peng;Wang Ke;Bi Wei(College of Engineering,Hefei University of Economics,Hefei,Anhui 230031,China)

机构地区：[1]合肥经济学院工学院,安徽合肥230031

出　　处：《黑龙江工业学院学报（综合版）》2023年第6期140-150,共11页Journal of Heilongjiang University of Technology(Comprehensive Edition)

基　　金：安徽省高校自然科学研究重点项目“基于MATLAB高精度焊接机器人的设计及运动学与动力学研究”(项目编号:2022AH052623)。

摘　　要：针对人工焊接作业危险性大,焊接效率低,劳动成本高等问题,设计了一种焊接机器人,其整体机械结构包括基座、转动台、大臂、连接臂、小臂、腕部和末端执行器部分,利用SolidWorks软件建立各零件的三维模型并进行装配。采用D–H参数法求解机器人的运动学正解并利用MATLAB软件验证。用ADAMS软件进行运动学和动力学仿真分析,根据仿真结果确定电动机的选型。再在SolidWorks中对机器人大臂进行静力学和基座的模态分析,验证所设计焊接机器人的合理性,不会导致机器人基座产生共振,从而保证了焊接机器人上部工作的稳定性。Aiming at solving the problems of high danger,low welding efficiency and high labor cost in manual welding,a welding robot is designed.The overall mechanical structure includes the base,rotary table,boom,connecting arm,forearm,wrist and end effector.The three-dimensional model of each part is established and assembled using SolidWorks software.The forward kinematics model of the robot was solved by the D-H parameter method and verified using MATLAB software.The kinematics and dynamics simulation analysis is carried out through ADAMS software,and the motor selection is determined according to the simulation results.Then the static and base modal analysis of the robot′s large arm in SolidWorks was performed to verify the rationality of the designed welding robot,which does not lead to the resonance of the robot base,thus ensuring the stability of the upper part of the working of the welding robot.

关 键 词：焊接机器人 结构设计 运动学正解 ADAMS仿真 有限元分析 

分 类 号：TG409[金属学及工艺—焊接] TP242[自动化与计算机技术—检测技术与自动化装置]