焊接机器人运动学分析

Kinematics Analysis of the Welding Robot

为了研究焊缝轨迹跟踪的方法,以实验室专用HP-6焊接机器人系统为对象,对该机器人焊接系统进行了运动学分析。通过建立机器人焊接系统坐标系,导出机器人本体运动学方程和焊丝端头工具矢量齐次变换矩阵。接着,分析了焊接系统闭环运动学,求出机器人本体运动学逆解,从而得到机器人末端空间位姿。最后,通过试验分析,给出了机器人焊接系统整体运动方程。该方程为后续的焊缝轨迹规划提供可依据的数学模型,也为开展更深层次的机器人焊接系统智能化研究提供了可靠的运动学依据。

In order to study the weld seam tracking method, with dedicated HP-6 weld seam robot system as object, kinematics analysis for this robot welding system is conducted. Through establishing the coordinate system of the robot welding system, the kinematics equation of the main body of robot and vector homogeneous transformation of the welding wire end tool are derived firsty. Then, the closed loop kinematics of the welding system is analyzed to solve inverse kinematics of robot main body, thus the space pose of robot end is obtained. Through experimental analysis, the overall equation of motion of the robot welding system is given finally, it provides mathematical model for subsequent weld seam tracking plan; and reliable kinematics basis for deeper developing intelligent research on robot weld systems.