旋转电弧机器人V形坡口焊缝跟踪模型与仿真

V-groove weld tracking model and simulation of rotatingarc robot

通过建立旋转电弧传感器扫描V形坡口焊缝时焊枪空间姿态数学模型,提取焊枪三维信息,根据V形坡口焊缝特点,推导出焊枪纠正偏差后ABB机器人的工具坐标系相对于基坐标系的变换矩阵,结合机器人逆运动学,建立了ABB机器人对V形坡口焊缝跟踪纠偏的数学模型,并针对该模型的求解提出了一种渐进粒子群优化算法,利用LABVIEW并结合该算法对该模型进行仿真分析,得出了左右、高低跟踪偏差.结果表明,模型具有准确性、有效性以及该算法的高效性,为旋转电弧传感器与ABB机器人相结合对V形坡口焊缝进行自动焊接提供了理论依据.

By establishing the mathematical model of the torch's spatial attitude when the rotary arc sensor scans the V-groove weld seam,extracting three-dimensional information of welding torch,combining the characteristics of V-groove weld,the transformation matrix between tool coordinate system and base coordinate system of ABB robot after correcting deviation of welding torch is derived.Combining the inverse kinematics of the robot,mathematical model of tracking and correcting deviation of V-groove weld by ABB robot is established,an Asymptotic Particle Swarm Optimization algorithm is proposed for solving the model.Last,the model is simulated and analyzed by using LABVIEW and the algorithm,the left and right tracking deviations and the high and low tracking deviations are obtained. The accuracy and validity ofthe model and the efficiency of the algorithm are verified, itprovides a theoretical basis for the automatic welding of Vgrooveweld by the combination of rotating arc sensor andABB robot.