6R焊接机械臂的运动性能及其工作空间仿真  

The kinematic performance and workspace simulation of 6R welding manipulator

作　　者：谢小正[1] 吕伟前 Xie Xiaozheng;Lv Weiqian(School of Mechanical and Electrical Engineering,Lanzhou University of Technology,Gansu Lanzhou,730050,China)

机构地区：[1]兰州理工大学机电工程学院,甘肃兰州730050

出　　处：《机械设计与制造工程》2023年第8期1-6,共6页Machine Design and Manufacturing Engineering

基　　金：兰州理工大学高等教育研究课题(GJ2021B-25)。

摘　　要：为研究将IRB 4600机械臂改装为点焊机械臂后的运动性能及其工作域,根据结构参数进行建模,通过改进D-H法创建连杆坐标系,推导出运动学方程,利用Robotics工具箱和RobotStudio验证了方程的正确性。采用蒙特卡罗法对执行器有效焊接工作域进行分析,用剖切的方式同时研究了工作域外部与内部各部分剖切点云图。对该机械臂进行规划焊接任务的实验仿真,验证了机械臂改装设计和运动规划的可行性及有效性。In order to research kinematic performance and its working domain after refitting the IRB 4600 manipulator into a spot welding manipulator,according to the structural parameters,it creates the connecting link coordinate system through the improved D-H method,deduces the kinematic equation,and verifies the correctness of the equation by using the Robotics toolbox and RobotStudio.The effective welding working domain of the actuator is analyzed by Monte Carlo method,and the cutting point cloud pictures of the external and internal parts of the working domain are studied by cutting.The feasibility and effectiveness of the modification design and motion planning of the manipulator are verified by the experimental simulation of the planned welding task of the manipulator.

关 键 词：机械臂 剖切点云图 工作空间仿真 轨迹规划 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]