滤清器壳体专用弧焊机器人轨迹规划研究

Trajectory Planning Research of the Filter Shell Special Arc Welding Robot

以所设计的滤清器壳体专用六自由度弧焊机器人为研究对象,分析其结构并结合其连杆参数,建立起了该型号机器人的运动学方程并验证了所获得方程的正确性,在对机器人运动学分析的基础上,借助MATLAB机器人工具箱对机器人进行了轨迹规划分析,通过程序编译得出了机器人各个关节的运动时间曲线和末端轨迹曲线,由关节位移变化曲线可以得出轨迹规划的正确性,从而验证了机器人结构的合理性。轨迹规划属于底层规划的内容,通过对轨迹规划的研究,可以为机器人的智能反馈控制奠定良好的理论基础。

Taking the specialfiler shell arc welding robot with six degrees of freedom designed as an example,based on the analyzing of the structure and connecting parameters,D-H parameter model and kinematics equation are set up,and the obtained equation is verified correctness.Based on the kinematics equation,the robot trajectory planning is analyzed with the help of MATLAB robot Toolbox.Through compilation of the programs,the movement-time curves and terminal trajectory curves are obtained.By joint displacement,the trajectory planning is verified accuracy.The content of the trajectory planning belongs to the floor planning,which lays a good theoretical basis for the intelligent feedback control.