碳纤维机械臂焊接相贯线轨迹优化算法

Trajectory Optimization Algorithm for Welding Intersecting Line of Carbon Fiber Manipulator

高性能碳纤维复合材料在机械臂中的应用,改善了传统金属机械臂速度慢、模量低、能耗大等缺陷。文章以碳纤维机械臂在焊接工艺中的应用场景为例,设计了一种碳纤维机械臂焊缝多层多道焊焊道填充策略;以该策略为基础,对碳纤维机械臂多层多道焊相贯线插补算法进行推理,得到一种能够通过改变焊道半径参数即可获得多层多道焊中各焊道相贯线轨迹坐标的优化算法。该方法能够实现碳纤维机械臂焊接场景需求,为新型材料制备的焊接机器人、机械臂控制提供借鉴。

The application of high performance carbon fiber composite materials in mechanical arm has improved the defects of traditional metal mechanical arm,such as slow speed,low modulus and high energy consumption.Taking the application scenario of carbon fiber mechanical arm in welding technology as an example,this paper designs a filling strategy of multi-layer and multi-pass welding seam of carbon fiber mechanical arm.Based on this strategy,the interpolation algorithm of the intersecting line in the multi-pass welding of the carbon fiber manipulator was deduced,and an optimization algorithm was obtained which could obtain the trajectory coordinates of the intersecting line in the multi-pass welding by changing the radius parameters of the welding line.This method can realize the welding scene requirements of carbon fiber mechanical arm and provide reference for the control of welding robot and mechanical arm prepared by new materials.