90°弯管内壁堆焊机械臂的结构设计及运动分析

Structure Design and Motion Analysis of 90 Degree Bend Pipe Inner Wall Surfacing Mechanical Arm

针对90°弯管内壁不易堆焊的问题,提出了根据支撑装置的运动情况,配合其回转运动得到堆焊机器人运动轨迹的方法,设计了一款新型的90°弯管内壁堆焊机器人。确定了该机器人本体——机械臂的机械结构,阐述了机械臂的关节构成及其实现形式,采用拉格朗日法建立起机械臂的运动方程,对其运动过程进行详细的运动学分析;提出运用Mat Lab多项式插值法求得驱动函数,利用Pro/e三维设计软件建立机械臂的三维模型并导入到ADAMS;对90°弯管内壁堆焊机械臂焊枪末端轨迹进行仿真验证。结果表明所设计的堆焊机器人完全满足支撑换位机构的轨迹要求。

Aiming at the problem that the inner wall of the 90 degree bend is not easy to be welded,a method of getting the moving path of the welding robot based on the movement of the supporting device and its rotary motion is put forward. A new 90 degree bend pipe inner wall surfacing robot is designed. The mechanical structure of the robot body—mechanical arm is determined. This paper expounds the mechanical arm joint and its realization form,using the Lagrange method to establish the motion equation of mechanical arm,the arm movement process in detail the kinematics analysis. It put forward the use of matlab polynomial interpolation method,the drive function was obtained by using Pro/e 3 d design software to establish three-dimensional model of mechanical arm,imported into ADAMS,90 degree bend pipe inner wall surfacing robot welding torch head trajectory simulation validation. It can be seen that thesurfacing robot designed by the article can meet the requirements of supporting the transposition mechanism from the analysis results.