集装箱波纹折线焊缝的三自由度焊接机器人逆运动学分析

The Inverse Kinematics Analysis of 3-D.O.F Welding Robot Designed for Ripple Polygonal Line Seam of Container

针对集装箱波纹折线焊缝的焊接难题,设计了一种三自由度焊接机器人。本文在D-H齐次变换矩阵的基础上,对焊接机器人进行运动学逆解。机器人通过3个关节的协调动作,可使固联在末端效应器上的焊枪保持一定的焊接姿态,为保证焊接质量的一致性提供了理论基础。通过Matlab软件仿真,控制各个关节按照给定规律运动,在Matlab环境下实现了恒定焊接速度下的轨迹的跟踪。

To resolve the welding problem existing in ripple polygonal line seam of container, a 3-D. O. F welding robot was developed. An inverse kinematics analysis of the designed welding-robot based on D-H displacement transformation matrix was put forward. The robot can make the welding gun fastend on the end effector keep a certain posture through the coordinated actions of the three joints of robot, which makes an assurerance for the consistency of welding quality. The result of simulation with MATLAB shows that the robot can track the trajectory under a certain unchanged welding velocity by controlling the discipline of the three joints.