液压支架顶梁焊接机械臂的运动学分析与仿真  

Kinematics Analysis and Simulation of Top Beam Welding Manipulator of Hydraulic Support

作　　者：张鑫[1] 刘长润 李旭 李军涛 王鹏[1] ZHANG Xin;LIU Changrun;LI Xu;LI Juntao;WANG Peng(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao Shandong 266590,China)

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266590

出　　处：《机床与液压》2024年第13期169-175,共7页Machine Tool & Hydraulics

基　　金：国家自然科学基金项目(U23A20599)。

摘　　要：针对液压支架顶梁焊接过程中焊接工艺不完善、焊接难度大的现状,设计一种五自由度焊接机械臂,以保证顶梁的焊接效率和质量。基于改进D-H参数建模方法,对顶梁焊接机械臂进行正、逆运动学分析求解;采用蒙特卡罗法对液压支架顶梁焊接机械臂的有效工作空间进行分析;使用MATLAB中Robotics Toolbox工具箱对焊接机械臂进行建模和轨迹规划分析和仿真,得到各关节的角位移、角速度以及角加速度曲线;使用Adams得到机械臂的实时跟踪轨迹,经验证可知MATLAB的轨迹规划是正确的。分析仿真结果可得,设计的顶梁焊接机械臂轨迹平稳并连续,满足运动学要求,为后续顶梁焊接机械臂的动静力学分析和优化设计以及运动控制奠定了基础。In response to the current situation of incomplete welding process and high welding difficulty in the welding process of the top beam of hydraulic support,a five degree of freedom welding manipulator was designed to ensure the welding efficiency and quality of the top beam.Based on the improved D-H parameter modeling method,the forward and inverse kinematics of the top beam welding manipulator were analyzed and solved.Monte Carlo method was used to analyze the effective workspace of the hydraulic support top beam welding manipulator.The Robotics Toolbox in MATLAB software was used to model,analyze and simulate the trajectory planning of the welding manipulator,and the angular displacement,angular velocity and angular acceleration curves of each joint were obtained.Adams was used to obtain the real-time tracking trajectory of the manipulator.The analysis and comparison show that the trajectory planning of MATLAB is correct.The analysis and simulation results show that the trajectory of the designed top beam welding manipulator is stable and continuous,meeting the requirements of kinematics.It lays foundation for the dynamic and static analysis,optimization design and motion control of the subsequent top beam welding manipulator.

关 键 词：焊接机械臂 运动学 工作空间 轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]