基于MATLAB和Adams的中小组立弧线焊缝机器人动力学仿真

Dynamic Simulation of Small and Medium-sized Assembly Arc Welding Robot Based on MATLAB and Adams

为分析和提高焊接机器人在中小组立弧线焊缝作业中的动力学性能,基于MATLAB和Adams开展机器人动力学的联合仿真。首先,简要介绍了中小组立弧线焊缝机器人的系统组成;其次,依据牛顿-欧拉方程建立了焊接机器人的动力学方程,并通过Adams验证了该模型的正确性;然后,在Adams中建立了中小组立弧线焊缝焊接机器人的仿真虚拟样机模型,并通过该软件的Controls接口将仿真模型和MATLAB中的控制系统模型联合起来;最后,针对典型的中小组立弧线焊缝,开展机器人动力学的联合仿真,分析机器人运动过程中的动力学特性,为机器人的轨迹规划和动力学性能提升提供了理论依据。

In order to analyze and improve the robotic welding dynamic performance for small and medium-sized vertical arc weld operation,the combined simulation of robotic dynamics is carried out based on MATLAB and Adams.Firstly,the system composition of small and medium-sized arc welding robot is briefly introduced.Secondly,the dynamic equation of welding robot is established according to Newton Euler equation,and the correctness of the model is verified by Adams.Then,the virtual prototype model of welding robot is established in Adams,and the virtual prototype model is combined with the MATLAB control system model through the Controls interface module.Finally,for the typical small and medium-sized vertical arc weld,the combined simulation of robotic dynamics is carried out to analyze the dynamic characteristics of robotic motion,so as to provide a theoretical basis for robotic trajectory planning and dynamic performance improvement.