管结构机器人焊接离线编程与仿真

发布时间：2018-04-04 06:06

本文选题：管结构　切入点：SIASUN机器人　出处：《沈阳大学》2015年硕士论文

【摘要】：管结构在工业领域的大多数应用需要兼顾密封性及强度,这就对管结构的焊接提出了较高的要求,高柔性的机器人自动化焊接则能够很好的实现这种要求。而传统的机器人在线示教已不能适应作业复杂、自动化要求高的应用环境。因此,本文对管结构焊接的离线编程相关技术进行了研究,并在管结构的焊接方向上实现了机器人的离线仿真。本文介绍了管结构连接的形式,以SIASUN工业机器人作为研究对象,建立了基于D-H坐标的机器人运动学模型,在此基础上进行了机器人正逆运动学的计算,并运用Matlab语言完成运动学模型的编程仿真,验证了所建立模型的正确性。在分析预期的管结构焊接作业任务的基础上,确定机器人相对应的运动轨迹,而选择合适的规划方法则是实现轨迹的关键。本文论述了机器人在关节空间的轨迹规划实现方法,实现了马鞍形相贯线的直线插补控制算法,并分析了直线插补的误差,从而验证了插补算法符合精度要求。研究了机器人管结构焊接过程中的五点工具标定以及三点工件标定法,并完成了SRVWS仿真环境中的标定。针对SIASUN机器人在管结构方向的焊接应用,完成了离线编程系统的总体设计。运用SRVWS虚拟工作站对管结构焊接路径进行了离线规划及仿真,生成了相应的路径程序,从而完成了离线编程系统的实现。最后建立机器人控制器与计算机之间的通信,并通过实地焊接实验验证了系统是可行的。
[Abstract]:Most applications of pipe structure in the industrial field need to take into account the sealing and strength, which put forward a higher requirement for pipe structure welding, and high flexibility robot automatic welding can achieve this requirement very well.But the traditional robot online teaching can no longer adapt to the complex operation, high automation requirements of the application environment.Therefore, the off-line programming technology of pipe structure welding is studied in this paper, and the robot off-line simulation is realized in the welding direction of pipe structure.This paper introduces the form of pipe structure connection, takes SIASUN industrial robot as the research object, establishes the kinematics model of robot based on D-H coordinate, and calculates the robot forward and inverse kinematics based on the model.The simulation of kinematics model with Matlab language is carried out, and the correctness of the model is verified.Based on the analysis of the expected welding task of the pipe structure, the corresponding trajectory of the robot is determined, and the key to realize the trajectory is to choose the appropriate planning method.In this paper, the trajectory planning method of robot in joint space is discussed, and the linear interpolation control algorithm of saddle intersecting line is realized, and the error of linear interpolation is analyzed, which verifies that the interpolation algorithm meets the requirement of precision.The five-point tool calibration and the three-point workpiece calibration method in the welding process of the robot tube structure are studied, and the calibration in the SRVWS simulation environment is completed.Aiming at the welding application of SIASUN robot in the direction of pipe structure, the overall design of off-line programming system is completed.The SRVWS virtual workstation is used for off-line planning and simulation of the welding path of pipe structure, and the corresponding path program is generated, thus the off-line programming system is realized.Finally, the communication between robot controller and computer is established, and the feasibility of the system is verified by field welding experiment.
【学位授予单位】：沈阳大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TG409;TP242

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