基于旋转电弧的机器人角焊缝跟踪建模及仿真

Modeling and Simulation of Fillet Weld Tracking for Robots Based on Rotating Arcs

通过对现有旋转电弧传感器采集的焊缝偏差信息和六自由度焊接机器人运动学模型进行研究,结合曲线角焊缝的特点,推导出纠正焊缝偏差后的焊接机器人工具坐标系相对于原工具坐标系的变换矩阵。在此基础上,结合焊接机器人的运动学反解,建立了曲线角焊缝跟踪及焊枪姿态调整模型。输入给定左右偏差及高低偏差信号,利用MATLAB对模型进行仿真验证,结果证明了该模型的有效性与正确性,从而为旋转电弧传感应用于焊接机器人及设计其焊缝跟踪系统提供了理论参考。

The six degrees welding robot kinematics model,rotating arc sensor welding seam deviation information collection and curve characteristics of fillet weld were studied,the robot transformation matrix after rectifying flange coordinate system relative to the base coordinate system was deduced,and the robot reverse kinematics was calculated.Then,the complex fillet seam tracking and posture welding torch adjustment models were established.The given height and lateral deviation signals were input into the MATLAB platform,and the simulation tests of robot welding seam tracking model were carried out.The simulation results prove that this model is effective and accurate.This paper provides theoretical references for using the rotating arc sensors in the welding robots.The research fruits provide the theory basis for seam tracking system designs.