差动轮系移动焊接机器人机构运动学分析与仿真

Kinematics Analysis and Simulation of Mobile Welding Robot Mechanism Based on Differential Gear Train

为提高移动焊接机器人跟踪精度,降低控制复杂度,提出了一种复合轮系轮式移动机器人机构。通过复合轮系传动机构,减少了机器人驱动电机与转向电机数量。在其速度分析基础上获得了机器人无侧滑转向条件。设计了一种适用于该机器人的双PID控制器,以整圆焊缝轨迹为例,进行了焊缝跟踪控制仿真,跟踪误差小于0.2 mm,机器人姿态变化平稳,各驱动轮无侧向滑动。结果表明,该机器人不仅可实现无侧滑的转向灵活,同时控制简单、跟踪精度高,降低了机器人成本,提高了焊接质量。

In order to improve the tracking accuracy and reduce the control complexity of mobile welding robot,a wheeled mobile robot mechanism with composite gear train was proposed.The number of the robot drive motors and steering motors was reduced by the composite gear train transmission mechanism.The steering conditions of the robot without side slip were obtained based on its speed analysis.And a dual PID controller suitable for the robot was designed.Taking the full circle weld trajectory as an example,the weld seam tracking control simulation was carried out.The tracking error is less than 0.2 mm,the posture of the robot body changes smoothly,and the driving wheels have no side slip.The results show that the robot can not only realize flexible steering without side slip,but also has simple control and high tracking precision,which reduces the cost of the robot and improves the welding quality.