虚拟环境下桥壳焊接机器人动力学及轨迹跟踪研究

Dynamics and Trajectory Tracking Research on Axle Housing Welding Robot in Virtual Environment

为解决人工焊接桥壳效率低、质量差等问题,建立一种可移动的桥壳截面焊接机器人模型,对其进行非完整动力学建模,并对焊接人机器人移动平台和调整装置进行运动控制,最后以实际所需焊接桥壳截面为对象,验证该模型的可行性。研究结果表明:由于系统对移动平台和调整装置进行联合控制,提高了焊缝跟踪的精度及系统整体运动平顺性。本桥壳焊接机器人对于实现桥壳截面的焊接具有良好的适应性和鲁棒性,可实现对复杂焊接轨迹的跟踪控制。

In order to solve the issues of low efficiency and poor quality during artificial process of welding axle housing,a movable robot model of axle housing welding was established to realize the nonholonomic dynamics modeling of welding robot and move controlling of the welding robot motion control platform and adjusting device.Finally,the actual welding axle housing section is taken as the object to verify the feasibility of the axle housing welding robot model.The results show that due to the union controlling of the system to the mobile platform and adjusting device,the accuracy of welding seam trajectory and system ride comfort are improved.The axle housing welding robots has good adaptability and good robustness for welding axle housing section,and it can realize the complex trajectory tracking control.