摘要
设计了一款全新平面自主移动焊接机器人。采用两轮差速轮式移动方式,与万向球形成三点支撑,二维十字滑块作为精确定位机构。采用全封闭式结构,小型化、轻量化。利用CATIA进行三维建模,排除干涉。为验证机构的正确性,在ADAMS中对虚拟样机进行了运动轨迹仿真。由于焊接机器人的机构特点,它在行走过程中会出现偏差。为了减小因机构在运动中出现的偏差,进行了仿真实验。得出通过对焊接机器人底盘增加磁力和调整两轮速比可减小偏差,进一步提高了其焊接跟踪精度。
A brand new plane autonomous mobile welding robot is designed. It uses two rounds of differential wheeled mobile mode to forms three-point support with the universal ball, and takes two-dimensional cross slider as accurate positioning mechanism. It adopts fully enclosed structure, and is miniaturization and lightweight. It uses CATIA for 3D modeling to eliminate the interference. To verify the validity of the mechanism, the movement trajectory of virtual prototype is simulated in ADAMS. But because of welding robot mechanism characteristics, deviation occurs in the walking process. Simulation experiment is carried out to reduce the deviation in movement of the mechanism. The result shows that increasing the magnetic force and the ratio of two wheels of welding robot chassis can reduce the deviation, and further improve the tracking precision of welding.
出处
《电焊机》
2015年第1期6-9,共4页
Electric Welding Machine
基金
国家863计划项目(2013AA041003)
江西省科技支撑计划项目(20133BBE50030)
