焊接机器人的工作空间灵活性分析及优化

ANALYSIS AND OPTIMIZATION OF WORKSPACE FLEXIBILITY OF WELDING ROBOT

针对焊接机器人与焊接工件相对位置安装问题,通过对机器人的工作空间灵活性进行分析。首先,运用D-H法对机器人的运动学进行建模,并通过蒙特卡罗法对机器人的工作空间进行求解;然后借助服务球的概念提出了适合该焊接件的灵活性计算方法,并求解了机器人工作空间中的灵活性;最后分析了各参数对机器人灵活性的影响,并通过遗传算法对灵活性进行优化,得到机器人工作空间中灵活性较高的位姿。该研究为机器人与焊接工件的相对安装位置提供了参考,保证了焊接的可靠性。

To solve the problem of relative position installation between welding robot with welded parts,the workspace flexibility of the robot is analyzed. Firstly,the D-H method is used to model the kinematics of the robot,and the working space of the robot is solved by Monte Carlo method. Then,by means of the concept of service ball,a calculating method of flexibility suitable for the welding part is proposed,and the flexibility in the working space of the robot is solved. In the end,the influence of various parameters on the flexibility is analyzed,and through the genetic algorithm to optimize flexibility,the more flexibility of the robot workspace is obtained. This study provides a reference for the relative installation position between robot with welded parts and can ensure the reliability of welding.