基于CAD/CAM技术的五轴焊接机器人轨迹规划

Trajectory planning for five-axis welding robot based on CAD/CAM technology

针对焊接机器人逆向运动学求解困难且多解或无解的缺点,提出一种基于CAD/CAM技术的轨迹规划方法,综合运用CAD三维建模技术和CAM后处理技术,实现焊接轨迹和焊枪位姿的曲线插值计算,准确得到机器人各关节的运动参数,并通过MATLAB软件对焊接轨迹与焊枪位姿进行仿真。通过仿真验证,分析焊接机器人各关节运动学参数的变化情况,并与理论数学模型进行对比,验证了数据的准确性和可靠性,为实现对不同类型相贯线焊缝的轨迹规划提供了理论依据。

During solving inverse kinematics problems of welding robot, there are often multiple solutions or even no solution. A trajectory planning method based on CAD/CAM technology was put forward to overcome the above disadvantages. Three dimen- sional modeling CAD technology and post-processing CAM technology were combined to realize the curve interpolation calculation of the welding trajectory and welding torch pose. Then the welding trajectory and welding torch pose were simulated, according to the accurate robot motion parameters of each joint gained by using MATLAB software. Through the simulation, analyse the changes of the welding robot kinematics parameters of each joint, and verify the accuracy and reliability of the data by compared with the theoretical mathematical model, provide theory basis for realizing the trajectory planning of different types of welding seams of in- tersection.