弧焊机器人与变位机协调运动的实现

Realization of Coordinated Motion of Arc-robot and Positioner

研究了弧焊工作时机器人和变位机的协调运动并推导出数学模型。从实际应用出发,首先通过在线示教的方式,建立变位机各轴坐标系并确定它们与机器人基坐标系之间的关系。然后运用机构运动学分析的方法,通过联合轨迹插补解决焊接同步工作站中机器人和变位机的协调运动问题,并给出了联合轨迹插补算法的具体步骤。最后通过应用实例验证了算法的正确性。

The coordinated motion of arc-robot and positioner in the synchronized workstation was studied and the mathematical model was derived in this paper,Then based on the actual application,first by the way of on-line teaching,the coordinate systems of the positioner＇s axises were built and the relationships between them and the robot＇s base coordinate system were determined, Second,The coordinated motion of arc-robot and positioner in the synchronized workstation was realized by using the motion analysis theory and the method of associative trajectory interpolation.The last,the simulation result shows the applicability of the algorithm.