新型相贯线焊接机器人设计与研究
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摘要
为了适应一定范围管径的相贯线焊缝的自动化焊接,设计一种通用型相贯线焊接机器人。设计空间均布的梯形铰链结构来适应一定范围管径的安装,使用具有自定心功能的二自由度手腕,在ProE中建立了五自由度相贯线焊接机器人模型。根据设计的机构为机器人建立D-H连杆坐标系,推导出模型正逆解,然后通过机器人关节的范围确定解的唯一性。通过MATLAB Robotics Toolbox机器人工具箱对机器人进行分析,为机器人建立ADAMS虚拟样机模型并进行仿真,提取了焊丝末端的速度曲线。结果表明焊丝端点合成速度波动不大,满足自动化焊接要求。
In order to adapt to automatic welding of intersection line weld of pipe diameter in a certain range, a kind of intersection line welding robot was designed. The trapezoidal hinge structure with spatial uniform distribution was designed to adapt to the installation of the pipe whose diameter was in a certain range. A two degree of freedom wrist with self-centering function was used. In ProE, a model of five degree of freedom intersecting line welding robot model was established.According to the design of mechanism, D-H (Denavit-Hartenberg) links' coordinates was established for the robot, then the positive and inverse solutions of the model were deduced. Then the uniqueness of solution was determined through the range of robot joints. The robot was analyzed by MATLAB Robotics Toolbox, and the ADAMS virtual prototype model was established and simulated for robot. The speed curves of the wire end were extracted. The result shows that the fluctuation of resultant speed of the wire end is not large,which meets the requirement of automatic welding.
In order to adapt to automatic welding of intersection line weld of pipe diameter in a certain range, a kind of intersection line welding robot was designed. The trapezoidal hinge structure with spatial uniform distribution was designed to adapt to the installation of the pipe whose diameter was in a certain range. A two degree of freedom wrist with self-centering function was used. In ProE, a model of five degree of freedom intersecting line welding robot model was established.According to the design of mechanism, D-H (Denavit-Hartenberg) links' coordinates was established for the robot, then the positive and inverse solutions of the model were deduced. Then the uniqueness of solution was determined through the range of robot joints. The robot was analyzed by MATLAB Robotics Toolbox, and the ADAMS virtual prototype model was established and simulated for robot. The speed curves of the wire end were extracted. The result shows that the fluctuation of resultant speed of the wire end is not large,which meets the requirement of automatic welding.
引文
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[2]霍孟友,岳少剑,王新刚.复杂相贯线接缝自动焊接的运动控制算法[J].焊接学报,2006(12):9-12.
[3]高利军,解海滨,于锁清,等.钢制暖气片自动焊缝机焊缝数学模型研究[J].热加工工艺,2012,41(13):143-144.
[4]Bahrami-Samani M,Agahi M,Ali S,et al.Design and Analysis of a Welding Robot[C]//Proceeding of the 2006 IEEE.International Conference on Automation Science and Engineering,Shanghai,China,2006.
[5]Muramatsu M,Namiki N,Koyama R.Autonomous mobile robot in pipe for piping operations[C]//International Conference on Intelligent Robots and Systems.2000:2166-2171.
[6]陈强,路井荣,孙振国,等.弧焊机器人焊炬姿态规划系统的研究[J].中国机械工程,2002(11):62-64.
[7]谭民.先进机器人控制[M].北京:高等教育出版社,2007.
[8]扶宇阳,葛阿萍.基于MATLAB的工业机器人运动学仿真研究[J].机械工程与自动化,2013(3):40-42.