焊接机器人运动学分析及焊缝轨迹规划

Kinematic Analysis and Weld Trajectory Planning of Welding Robot

通过建立焊接机器人D-H参数模型,得到各关节间位置关系;进行运动学分析,得到从位置变换到角度的转换矩阵,以及从角度到位置的逆运动学方程,从而得出了焊接机器人各关节间运动关系.通过对焊接图像的拍摄,提取出主要特征的焊接信息,转化为位置坐标,形成一条完整的机器人运动轨迹,最后通过对碳素钢和铝合金材料试验分析得出这种轨迹规划方式有很高价值.

The D-H parameter model of the welding robot is established, and the position relationship between the joints is obtained. The transformation matrix from position to angle is obtained by kinematics analysis. From the angle to the inverse kinematics equation of the position, the motion relations between the joints of the welding robot are obtained. Through the photography of welding images, the welding information of the main features is extracted and transformed into position coordinates to form a complete robot trajectory. Finally, analysis of carbon steel and aluminum alloy material experiments proves this trajectory planning method has high practical value.