摘要
运用Denavit-Hartenberg方法建立了以关节角为变量的马鞍形焊缝焊接机器人运动学模型,对马鞍形焊缝焊接机器人正运动学和逆运动学问题进行了求解分析;采用三次多项式插值的方法对焊接机器人进行了轨迹规划,通过MATLAB Robotics Toolbox工具箱对马鞍形焊缝焊接机器人进行了运动学仿真,得到了焊枪末端轨迹图以及关节角、角速度、角加速度与时间的变化曲线,验证了所设计参数的合理性,达到了良好的效果。
Based on the Denavit-Hartenberg (DH) method, the kinematic model of Saddle-shape weld robot is built in the basis of joint variables. The forward kinematics and inverse kinematics of saddle welding robot were analyzed. Trajectory planning of weld robot was based on the cubic polynomial interpolation method, using the MATLAB Robotics Toolbox to simulate the Saddle welding robot kinematics, the track figure of the welding gun terminal execution mechanism and the relation curves that angular displacement, angular velocity and angular acceleration vary with time were obtained. The rationality of the designed parameters is verified, and achieved good effect.
作者
薛良豪
魏敏
张立新
杨涛
卢永鑫
XUE Lianghao;WEI Min;ZHANG Lixin;YANG Tao;LU Yongxin(Mechanical and Electrical Engineering College, Shihezi University, Shihezi Xinjiang 832000,China)
出处
《机床与液压》
北大核心
2019年第15期58-62,共5页
Machine Tool & Hydraulics
基金
新疆生产建设兵团工业高新技术科技攻关与成果转化项目(2016AB004)
关键词
马鞍形焊缝
运动学
轨迹规划
仿真
Saddle-shape weld
Kinematics
Trajectory planning
Simulation
