关节回转副间隙对焊接机器人末端位姿精度影响研究

Analysis of the Impact of Revolute Pair Clearance to the End Pose Accuracy of Welding Robot

机构回转副在运行一段时间后,由于磨损必然会导致配合间隙增大,从而加剧系统动力学性能恶化,导致焊枪末端偏离理论焊接位置,焊接精度降低直至失效。为了研究回转副间隙对机械臂末端位姿的影响程度,建立了机械臂回转副间隙数学模型,采用SolidWorks软件建立焊接机械臂虚拟样机,分别对有无回转副间隙机械臂进行运动仿真分析,获得了机器人焊接过程中铰接轴的运动特性。研究结果表明,含回转副间隙机械臂的铰接轴线速度和线位移存在一定程度的波动,对焊接机械臂末端位姿有影响,降低了焊接机器人的运动稳定性与焊接精度。

Various uncertain factors affect the movement of the welding robot,thus welding gun tend to deviate from the theory of welding position which reduces the welding accuracy,of which the revolute pair clearance have an greater effect on the movement of the welding robot.In order to study the influence of revolute pair clearance to the end pose accuracy of welding robot,the mathematical model of revolute pair clearance was established,and the software SolidWorks was used for establishing the welding robot model,making simulations of the mechanical arm with joint clearance and no joint clearance.At last,the movement characteristic of the hinge shaft is attained.The simulation results showed that the shaft velocity and displacement of mechanical arm with joint clearance has a certain degree of fluctuation,which affecting the end pose accuracy of welding robot,and reducing the movement stability and the welding accuracy of welding robot.