焊接机器人运动学分析及轨迹规划研究

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Aiming at the welding difficulties of beam structures, liquefied petroleum gas containers and other large weldments, a 7 degrees of freedom （DOF） large welding robot was developed. After the analysis of the mechanical structure, robot kinematics equations were built to analyze robot kinematics problems, based on D-H coordinate system theory. A new cubic polynomial interpolation method, characterized by pass waypoints, was proposed to plan robot joint trajectory by interpolation calculation in joint space combined with motion parameters in operation space. Robot kinematics and trajectory planning method were simulated, according to the robot model, built by Robotics Toolbox on the platform of MatlabT.8. The results indicate that the robot parameter design is reasonable and the planning robot joint trajectory by interpolation calculation in joint space is feasible, which will provide a basis for future studies on kinetics, and this technology has been applied to spot and fillet welding operation.针对梁构、石化容器等大型焊件普遍存在的焊接难的问题，研制了一种新型7自由度大型焊接机器人。首先，分析了该机器人的机械结构，基于D-H坐标系理论建立了机器人的运动学方程，并对该方程进行了求解，得到了其运动学正反解；其次，在关节空间内，采用过路径点的三次多项式插值方法，结合机器人操作空间运动参数对关节轨迹插值计算，实现了对机器人关节空间的轨迹规划；最后，在Matlab7．8平台上，利用机器人工具箱建立了该机器人模型，并且对机器人运动学、轨迹规划进行了仿真分析。仿真及研究结果表明：该机器人各连杆参数的设计是合理的，在关节空间内利用三次多项式进行轨迹规划具有可行性；同时，这也为机器人动力学的研究打下了基础。目前该技术已应用于机器人的点焊及角焊的现场作业中。