阀体密封面变位焊接机器人系统运动学建模

发布时间：2018-06-14 12:04

本文选题：协同焊接 + 变位机　；参考：《计算机集成制造系统》2016年11期

【摘要】：为了获得与时间序列相对应的离散焊点位姿,以更易于求得焊枪—焊点间的相对位姿,提出基于弗莱那—雪列矢量理论的曲线焊缝中离散焊点的位姿求解及焊缝坐标系构建方法。基于变位机—机器人主、从运动链末端的耦合约束关系,提出以船型焊为最佳焊位时的协同焊接运动学模型及参数求解流程,据此求得协同焊接过程中机器人和变位机的关节转角、角速度和角加速度。变位机—机器人协同焊接阀体密封面的运动仿真和现场实验表明,该系统能够平稳、准确地完成预期的焊接任务,证实了所提协同焊接运动学模型及参数求解方法正确可行,为研发自动化焊接生产线奠定了必要的基础。
[Abstract]:In order to obtain discrete orientation of solder joint corresponding to time series, it is easier to obtain the relative orientation between welding torch and solder joint. This paper presents a method to solve the position and pose of discrete solder joints in curved welds based on Flina-Shelley vector theory and to construct the coordinate system of the welds. Based on the coupling constraint relationship between the robot and the positioner, the kinematics model and parameter solving process of the cooperative welding with ship type welding as the best welding position are proposed. Based on this, the joint rotation angle, angular velocity and angular acceleration of robot and positioner are obtained. The motion simulation and field experiment of positioner and robot cooperative welding valve body seal surface show that the system can smoothly and accurately complete the expected welding task, and proves that the proposed kinematics model and parameter solving method for cooperative welding are correct and feasible. For the development of automatic welding production line laid the necessary foundation.
【作者单位】：上海工程技术大学机械工程学院;伟巴斯特车顶供暖系统(上海)有限公司研发部;
【分类号】：TP242.3

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