北京航空航天大学学报 ›› 2008, Vol. 34 ›› Issue (8): 964-968.

• 论文 • 上一篇    下一篇

骑座相贯线焊接机器人运动学分析及仿真

李晓辉,汪苏   

  1. 北京航空航天大学 机械工程及自动化学院, 北京 100191
  • 收稿日期:2007-07-18 出版日期:2008-08-31 发布日期:2010-09-17
  • 作者简介:李晓辉(1978-),男,河北保定人,博士生,lixiaohui@me.buaa.edu.cn.

Kinematic analysis and simulation of saddle-back coping welding robot

Li Xiaohui, Wang Su   

  1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2007-07-18 Online:2008-08-31 Published:2010-09-17

摘要: 针对复杂相贯线曲线机器人自动焊接的特殊要求,开发了骑座式相贯线焊接机器人,并通过对机器人结构进行合理简化建立了机器人的D-H连杆坐标系.根据D-H连杆坐标系,推导了机器人的运动学正解方程和逆解方程,并结合机器人关节变量的取值范围,确定了逆解的唯一性.然后通过Matlab仿真软件对机器人的运动学进行了仿真,结果表明所得的机器人正、逆运动学方程完全正确.仿真误差表明所得结果完全可以满足工程需要,为相贯线焊接机器人的轨迹控制和离线编程提供了依据和算法支持.

Abstract: Aiming at the special request of complicated intersection line robot welding, a kind of saddle-back coping welding robot was presented, which has five axes. The robot mechanistic structure was reduced essentially and rationally. The five-axis robot D-H (Denavit-Hartenberg) links- coordinates were established with the reduced robot mechanistic structure. Then the forward solution and the inverse kinematics equations were built according to D-H links- coordinates. The singular solution of inverse kinematics equations was educed associated with the kinematic parameters change range. Programming in the Matlab software according to the forward solution and inverse kinematics equations, the five-axis robot kinematic analysis was simulated. The simulative calculations results indicate that forward solution and inverse kinematics equations are completely accurate. And the simulation accuracy shows that the solution of inverse kinematics equations satisfies the welding project well. It is very important to welding robot and can provide a theoretical basis and supports algorithm for trajectory regulation and off-line programming.

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